CN114454147A

CN114454147A - Three-freedom reversing device

Info

Publication number: CN114454147A
Application number: CN202011244742.0A
Authority: CN
Inventors: 陈凌枭; 刘少明; 焦向杰; 单树军; 程宇
Original assignee: Shenzhen Colibri Technologies Co ltd
Current assignee: Shenzhen Colibri Technologies Co ltd
Priority date: 2020-11-10
Filing date: 2020-11-10
Publication date: 2022-05-10

Abstract

The application provides a three degree of freedom switching-over device includes: the device comprises a base body, a first rotor, a second rotor, a third rotor, a YZ-axis reversing transmission mechanism and an executing part, wherein a space rectangular coordinate system is established by taking the horizontal rightward direction on the base body as the positive direction of an X axis, the horizontal forward direction on the base body as the positive direction of a Y axis and the vertical upward direction on the base body as the positive direction of a Z axis; the first rotor, the second rotor and the third rotor are arranged on the base body in a moving mode along the direction parallel to the X axis, the YZ-axis reversing transmission mechanism is simultaneously in linkage transmission among the first rotor, the second rotor, the third rotor and the executing element, and the YZ-axis reversing transmission mechanism converts the displacement transmission of the first rotor, the second rotor and the third rotor along the X axis direction into the displacement of the executing element in the X axis direction, the Y axis direction and the Z axis direction. The device has the advantages of simple and compact structure, simple and flexible installation, quick and flexible action, high precision, uniform precision distribution, high space utilization rate and low manufacturing and using cost.

Description

Three-freedom reversing device

Technical Field

The application relates to the technical field of automation, in particular to a three-degree-of-freedom reversing device.

Background

In the automation industry, especially on a 3C automatic assembly production line, a plurality of production stations need to realize the actions of transferring, taking, placing and the like of materials.

At present, two traditional application forms are used in the industry to realize the actions of transferring, taking, placing and the like of materials, wherein one type is combined application, and the most common combination is as follows: the motor and the screw rod are used as a series structure of an X axis, a Y axis and a Z axis, or the motor and the screw rod are used as the X axis and the Y axis, and the Z axis uses the cylinder to realize two-point motion. However, the common problems of the structures are that the structures are complex, the installation layout is complex, the requirements are high, and the structures are connected in series, so that the motion inertia is large, the action response is slow, and the production efficiency of a production line is severely limited.

The other type is product application, and products for taking and placing XYZ axes in the market at present comprise a Delta parallel manipulator, a Scara serial manipulator and the like. The Delta parallel manipulator is high in picking and placing speed, but low in precision and uneven in distribution, can only be kept within +/-0.1 mm, and cannot be applied to occasions with high precision requirements and large space limitations. The Scara serial manipulator is high in speed and high in repeated positioning accuracy within +/-0.015 mm, but the Scara serial manipulator is complex in structure and high in manufacturing cost, and the accuracy distribution is uneven. Moreover, the Delta parallel manipulator and the Scara serial manipulator are cylindrical motion spaces, so that the installation layout is complex, the requirement is high, and when the long-strip-shaped working space with a large length-width ratio moves, a single manipulator can only operate in a local space, the defect of low space utilization rate exists, the operation requirement of the whole long-strip-shaped working space can be met only by arranging a plurality of manipulators, and the use cost is greatly increased.

Therefore, there is a need for a three-degree-of-freedom reversing device to overcome the above-mentioned problems.

Disclosure of Invention

The three-degree-of-freedom reversing device has the advantages of being simple and compact in structure, simple and flexible to install, rapid and flexible in action, high in precision, even in precision distribution, high in space utilization rate and low in manufacturing and using cost.

To achieve the above object, a first aspect of an embodiment of the present application provides a three-degree-of-freedom reversing device, including: the device comprises a base body, a first rotor, a second rotor, a third rotor, a YZ-axis reversing transmission mechanism and an executing part, wherein a space rectangular coordinate system is established by taking the horizontal rightward direction on the base body as the positive direction of an X axis, taking the horizontal forward direction on the base body as the positive direction of a Y axis and taking the vertical upward direction on the base body as the positive direction of a Z axis; the first rotor, the second rotor and the third rotor are all arranged on the base body in a moving mode along a direction parallel to the X axis, the YZ-axis reversing transmission mechanism is simultaneously in linkage transmission among the first rotor, the second rotor, the third rotor and the executing part, and the YZ-axis reversing transmission mechanism converts the moving transmission of the first rotor, the second rotor and the third rotor along the X axis into the moving transmission of the executing part in the X axis direction, the Y axis direction and the Z axis direction.

Optionally, the YZ axis reversing transmission mechanism includes: a base plate, a first reversing wheel, a second reversing wheel, a third reversing wheel, a fourth reversing wheel, a first lifting frame, a second lifting frame, a first strip-shaped traction piece, a second strip-shaped traction piece, a third strip-shaped traction piece and a fourth strip-shaped traction piece,

the substrate is fixed on the second rotor, and the second rotor is located between the first rotor and the third rotor in the X-axis direction;

the first reversing wheel, the second reversing wheel, the third reversing wheel and the fourth reversing wheel are all pivoted on the substrate, the pivot axes of the first reversing wheel, the second reversing wheel, the third reversing wheel and the fourth reversing wheel are all parallel to the Y axis, and the first reversing wheel, the second reversing wheel, the third reversing wheel and the fourth reversing wheel are sequentially arranged at intervals along the positive direction of the X axis;

the first lifting frame and the second lifting frame are movably arranged on the base plate along the direction parallel to the Z axis, one end of the first strip-shaped traction piece is fixedly connected to the upper end of the first lifting frame, and the other end of the first strip-shaped traction piece is sequentially wound on the second reversing wheel and the first reversing wheel along the clockwise direction and then is fixedly connected to the first rotor; one end of the second strip-shaped traction piece is fixedly connected to the lower end of the first lifting frame, and the other end of the second strip-shaped traction piece is wound on the second reversing wheel in the anticlockwise direction and then is fixedly connected to the first rotor; one end of the third strip-shaped traction piece is fixedly connected to the upper end of the second lifting frame, and the other end of the third strip-shaped traction piece is sequentially wound on the third reversing wheel and the fourth reversing wheel along the anticlockwise direction and then is fixedly connected to the third rotor; one end of the fourth-shaped traction piece is fixedly connected to the lower end of the second lifting frame, and the other end of the fourth-shaped traction piece is wound on the third reversing wheel in the clockwise direction and then is fixedly connected to the third rotor;

the second lifting frame is provided with an inclined guide part which is inclined from the back upper part to the front lower part, the executive part is arranged on the first lifting frame in a moving way along the direction parallel to the Y axis, and the executive part is also connected with the inclined guide part in a sliding way.

Optionally, the first strip-shaped traction part is fixedly connected to one end of the first mover, the second strip-shaped traction part is fixedly connected to one end of the first mover, and the third strip-shaped traction part is fixedly connected to one end of the third mover, and the fourth strip-shaped traction part is fixedly connected to one end of the third mover and is of an integrally formed structure.

Optionally, the YZ shaft reversing transmission mechanism further includes: the roller is pivoted on the executing piece and is arranged on the inclined guide part in a rolling manner.

Optionally, the YZ axis reversing transmission mechanism includes: a base plate, a first reversing wheel, a second reversing wheel, a first strip-shaped traction piece, a second strip-shaped traction piece, a lifting frame, a guide frame and an elastic piece,

the substrate is fixed on the second rotor, the first reversing wheel and the second reversing wheel are pivoted on the substrate, the pivoting axes of the first reversing wheel and the second reversing wheel are parallel to the Y axis, and the first reversing wheel and the second reversing wheel are sequentially arranged at intervals along the positive direction of the X axis;

the lifting frame is movably arranged on the base plate along the direction parallel to the Z axis, one end of the first strip-shaped traction piece is fixedly connected to the upper end of the lifting frame, and the other end of the first strip-shaped traction piece is sequentially wound on the second reversing wheel and the first reversing wheel along the clockwise direction and then is fixedly connected to the first rotor; one end of the second strip-shaped traction piece is fixedly connected to the lower end of the lifting frame, and the other end of the second strip-shaped traction piece is wound on the second reversing wheel in the anticlockwise direction and then is fixedly connected to the first rotor;

the guide frame is fixed on the third rotor, a guide inclined plane which is vertically arranged is formed on the guide frame, and the guide inclined plane is obliquely arranged from left back to right front; the actuating member is arranged on the lifting frame in a moving mode along the direction parallel to the Y axis, the elastic member is connected between the lifting frame and the actuating member, and the elastic member constantly drives the actuating member to be in sliding contact with the guide inclined plane.

Optionally, the first strip-shaped traction part is fixedly connected to one end of the first mover, and the second strip-shaped traction part is fixedly connected to one end of the first mover and is of an integrally formed structure.

Optionally, the YZ axis reversing transmission mechanism includes: a first guide frame, a second guide frame, a third guide frame, a first translation frame and a second translation frame,

the second mover is located between the first mover and the third mover in the Z-axis direction;

the first guide frame is fixed on the first rotor, the second guide frame is fixed on the second rotor, and the third guide frame is fixed on the third rotor;

the first translation frame is arranged on the second guide frame in a manner of moving along a direction parallel to the Y axis, a first inclined guide part which is inclined from left front to right rear is formed on the first guide frame, and the first translation frame is also connected with the first inclined guide part in a sliding manner;

the second translation frame is arranged on the third guide frame in a manner of moving along the direction parallel to the Y axis, and the second translation frame is arranged on the first translation frame in a manner of moving along the direction parallel to the X axis;

the second translation frame is provided with a second inclined guide part which is inclined from the lower left to the upper right, the executive component is arranged on the first translation frame in a moving mode along the direction parallel to the Z axis, and the executive component is further connected with the second inclined guide part in a sliding mode.

Optionally, the YZ axis reversing transmission mechanism further includes: the first rolling wheel is pivoted on the first translation frame and is arranged on the first inclined guide part in a rolling manner; the second roller is pivoted on the executing piece and is arranged on the second inclined guide part in a rolling manner.

Optionally, the YZ axis reversing transmission mechanism includes: a base plate, a first lifting frame, a second lifting frame, a first guide frame and a second guide frame,

the substrate is fixed on the second rotor, and the first rotor and the second rotor are both positioned above the third rotor;

the first lifting frame and the second lifting frame are arranged on the base plate in a moving mode along a direction parallel to the Z axis, the first guide frame is fixed on the first rotor, a first inclined guide part which is inclined from the lower left to the upper right is formed on the first guide frame, and the first lifting frame is further connected to the first inclined guide part in a sliding mode; the second guide frame is fixed on the second mover, a second inclined guide part inclined from the lower left to the upper right is formed on the second guide frame, and the second lifting frame is further connected to the second inclined guide part in a sliding mode;

the second lifting frame is provided with a third inclined guide part which is inclined from the upper back to the lower front, the executive part is arranged on the first lifting frame in a moving mode along the direction parallel to the Y axis, and the executive part is further connected with the third inclined guide part in a sliding mode.

Optionally, the YZ axis reversing transmission mechanism further includes: the first roller is pivoted on the first lifting frame and is arranged on the first inclined guide part in a rolling manner; the second roller is pivoted on the second lifting frame and is arranged on the second inclined guide part in a rolling manner; the third roller is pivoted on the executing piece, and the second roller is arranged on the third inclined guiding part in a rolling manner.

The three-degree-of-freedom reversing device comprises: the device comprises a base body, a first rotor, a second rotor, a third rotor, a YZ-axis reversing transmission mechanism and an executing part, wherein a space rectangular coordinate system is established by taking the horizontal rightward direction on the base body as the positive direction of an X axis, the horizontal forward direction on the base body as the positive direction of a Y axis and the vertical upward direction on the base body as the positive direction of a Z axis; the first rotor, the second rotor and the third rotor are arranged on the base body in a moving mode along the direction parallel to the X axis, the YZ-axis reversing transmission mechanism is simultaneously in linkage transmission among the first rotor, the second rotor, the third rotor and the executing element, and the YZ-axis reversing transmission mechanism converts the displacement transmission of the first rotor, the second rotor and the third rotor along the X axis direction into the displacement of the executing element in the X axis direction, the Y axis direction and the Z axis direction. Then, through the parallel structure that the first mover, the second mover and the third mover are all arranged on the base body in a moving manner along the direction parallel to the X axis, when the first mover, the second mover and the third mover generate different displacements along the direction parallel to the X axis according to the motion requirements, the displacement transmission of the first mover, the second mover and the third mover along the X axis can be converted into the displacements of the actuating member in the three directions of the X axis, the Y axis and the Z axis through the YZ axis reversing transmission mechanism, that is, the degree of freedom in the three X axis directions can be converted into the degrees of freedom in the three different directions of the X axis, the Y axis and the Z axis. On the one hand, the structure is simple and compact, the traditional series structure is replaced, the motion inertia is reduced, the problem of large motion inertia is well solved, the action is quick and flexible, and the manufacturing cost is greatly reduced. On the other hand, the degrees of freedom in three X-axis directions are converted into the degrees of freedom in three different directions of an X-axis, a Y-axis and a Z-axis through the YZ-axis reversing transmission mechanism, the displacement accuracy of the first rotor, the second rotor and the third rotor can be well kept, the accuracy is uniformly distributed, and the accuracy is greatly improved. Moreover, the installation is simple nimble, and can adapt to the workspace of different shapes, equidimension not, the motion in the rectangular shape workspace that the specially adapted aspect ratio is big, and space utilization improves greatly, need not to set up a plurality ofly, and use cost is greatly reduced also. Therefore, the three-degree-of-freedom reversing device has the advantage of high cost performance, really realizes high speed, high precision and low cost, and has great market prospect.

Drawings

Fig. 1 is a combined perspective view of a three-degree-of-freedom reversing device according to a first embodiment of the present application.

Fig. 2 is a schematic combined perspective view of a base, a first mover, a second mover, and a third mover of a first embodiment of a three-degree-of-freedom reversing device in an embodiment of the present application.

Fig. 3 is a perspective view illustrating a YZ-axis reversing transmission mechanism and an actuator of a first embodiment of a three-degree-of-freedom reversing device in an embodiment of the present application.

Fig. 4 is a schematic combined perspective view of a substrate, a first reversing wheel, a second reversing wheel, a third reversing wheel, a fourth reversing wheel, a first strip-shaped traction member, a second strip-shaped traction member, a third strip-shaped traction member, and a fourth strip-shaped traction member of the first embodiment of the three-degree-of-freedom reversing device in the embodiment of the present application.

Fig. 5 is a combined perspective view of the first crane, the second crane, the roller and the actuator of the first embodiment of the three-degree-of-freedom reversing device in the embodiment of the present application.

Fig. 6 is a combined perspective view of a second embodiment of a three-degree-of-freedom reversing device in an embodiment of the present application.

Fig. 7 is a schematic view of fig. 6 from another viewing angle.

Fig. 8 is a schematic combined perspective view of a base, a first movable element, a second movable element, and a third movable element of a second embodiment of a three-degree-of-freedom reversing device in an embodiment of the present application.

Fig. 9 is a perspective view illustrating a YZ-axis reversing transmission mechanism and an actuator of a second embodiment of a three-degree-of-freedom reversing device in an embodiment of the present application.

Fig. 10 is a combined perspective view of a base plate, a first reversing wheel, a second reversing wheel, a first strip-shaped traction member, a second strip-shaped traction member, and a lifting frame of a second embodiment of the three-degree-of-freedom reversing device in the embodiment of the present application.

Fig. 11 is a combined perspective view of a third embodiment of a three-degree-of-freedom reversing device in an embodiment of the present application.

Fig. 12 is a schematic combined perspective view of a base, a first mover, a second mover, and a third mover of a third embodiment of a three-degree-of-freedom reversing device in an embodiment of the present application.

Fig. 13 is a perspective view illustrating a YZ-axis reversing transmission mechanism and an actuator of a third embodiment of a three-degree-of-freedom reversing device in an embodiment of the present application.

Fig. 14 is an exploded view of fig. 13.

Fig. 15 is a combined perspective view of a fourth embodiment of a three-degree-of-freedom reversing device in the embodiment of the present application.

Fig. 16 is a schematic combined perspective view of a base, a first movable element, a second movable element, and a third movable element of a fourth embodiment of a three-degree-of-freedom reversing device in an embodiment of the present application.

Fig. 17 is a perspective view illustrating a YZ-axis reversing transmission mechanism and an actuator of a fourth embodiment of a three-degree-of-freedom reversing device in an embodiment of the present application.

Fig. 18 is an exploded view of fig. 17.

Fig. 19 is a combined perspective view of the second crane, the third roller and the actuator of the fourth embodiment of the three-degree-of-freedom reversing device in the embodiment of the present application.

Detailed Description

The present application will be further described with reference to the accompanying drawings and preferred embodiments, but the embodiments of the present application are not limited thereto.

Referring to fig. 1 to fig. 5, a three-degree-of-freedom reversing device 100a of a first embodiment of the present application is shown, where the three-degree-of-freedom reversing device 100a of the present embodiment includes: the base 50, the first mover 60, the second mover 70, the third mover 80, the YZ-axis reversing transmission mechanism 10, and the actuator 90 use the horizontal rightward direction on the base 50 as the positive direction of the X-axis, the horizontal forward direction on the base 50 as the positive direction of the Y-axis, and the vertical upward direction on the base 50 as the positive direction of the Z-axis to establish a spatial rectangular coordinate system. The first mover 60, the second mover 70 and the third mover 80 are all disposed on the base 50 in a direction parallel to the X-axis, the YZ-axis reversing transmission mechanism 10 is simultaneously and correlatively transmitted among the first mover 60, the second mover 70, the third mover 80 and the actuator 90, and the YZ-axis reversing transmission mechanism 10 converts the displacement transmission of the first mover 60, the second mover 70 and the third mover 80 along the X-axis direction into the displacement of the actuator 90 in three directions, namely, the X-axis direction, the Y-axis direction and the Z-axis direction. Then, by the parallel structure in which the first mover 60, the second mover 70, and the third mover 80 are all disposed on the base 50 and move in the direction parallel to the X axis, when the first mover 60, the second mover 70, and the third mover 80 displace differently in the direction parallel to the X axis according to the motion requirement, the displacement transmission of the first mover 60, the second mover 70, and the third mover 80 in the X axis direction can be converted into the displacement of the actuator 90 in the three directions of the X axis, the Y axis, and the Z axis by the YZ-axis reversing transmission mechanism 10, that is, the degree of freedom in the three X axis directions can be converted into the degrees of freedom in the three different directions of the X axis, the Y axis, and the Z axis. On the one hand, the structure is simple and compact, the traditional series structure is replaced, the motion inertia is reduced, the problem of large motion inertia is well solved, the action is quick and flexible, and the manufacturing cost is greatly reduced. On the other hand, the degree of freedom in three X-axis directions is converted into the degrees of freedom in three different directions, namely the X-axis direction, the Y-axis direction and the Z-axis direction, by the YZ-axis reversing transmission mechanism 10, the displacement accuracy of the first mover 60, the second mover 70 and the third mover 80 can be well maintained, so that the accuracy distribution is uniform, and the accuracy is greatly improved. Moreover, the installation is simple nimble, and can adapt to the workspace of different shapes, equidimension not, the motion in the rectangular shape workspace that the specially adapted aspect ratio is big, and space utilization improves greatly, need not to set up a plurality ofly, and use cost is greatly reduced also. Specifically, the following:

in this embodiment, the YZ axis reversing transmission mechanism 10 includes: the first active cell comprises a substrate 11, a first reversing wheel 12, a second reversing wheel 13, a third reversing wheel 14, a fourth reversing wheel 15, a first lifting frame 16a, a second lifting frame 16b, a first strip-shaped traction piece 17a, a second strip-shaped traction piece 17b, a third strip-shaped traction piece 18a and a fourth strip-shaped traction piece 18b, wherein the substrate 11 is fixed on a second active cell 70, and the second active cell 70 is positioned between a first active cell 60 and a third active cell 80 in the X-axis direction. The first reversing wheel 12, the second reversing wheel 13, the third reversing wheel 14 and the fourth reversing wheel 15 are all pivoted on the base plate 11, the pivot axes of the first reversing wheel 12, the second reversing wheel 13, the third reversing wheel 14 and the fourth reversing wheel 15 are all parallel to the Y axis, and the first reversing wheel 12, the second reversing wheel 13, the third reversing wheel 14 and the fourth reversing wheel 15 are sequentially arranged at intervals in the positive direction of the X axis. The first crane 16a and the second crane 16b are both movably disposed on the base plate 11 along a direction parallel to the Z axis, and optionally, the first crane 16a and the second crane 16b are both movably disposed on the base plate 11 through a structure matched with the guide rail, but not limited thereto. One end of a first strip-shaped traction piece 17a is fixedly connected to the upper end of the first lifting frame 16a, and the other end of the first strip-shaped traction piece 17a is sequentially wound on the second reversing wheel 13 and the first reversing wheel 12 along the clockwise direction and then is fixedly connected to the first rotor 60; one end of the second strip-shaped traction piece 17b is fixedly connected to the lower end of the first lifting frame 16a, and the other end of the second strip-shaped traction piece 17b is wound on the second reversing wheel 13 along the counterclockwise direction and then is fixedly connected to the first rotor 60. When the distance between the first mover 60 and the second mover 70 changes, the first mover 60 can drive the first strip-shaped traction member 17a and the second strip-shaped traction member 17b to drive the first crane 16a to move along the direction parallel to the Z axis in a matching manner. Optionally, in the present embodiment, the first strip pulling element 17a and the second strip pulling element 17b are arranged at intervals along the Y axis to avoid contact friction between the first strip pulling element 17a and the second strip pulling element 17b, and the structure is more reasonable, but not limited thereto. In this embodiment, the first reversing wheel 12 is provided with a first annular groove 121, the second reversing wheel 13 is provided with a second annular groove 131 and a third annular groove 132, the first annular groove 121 and the second annular groove 131 are used for positioning and winding the first strip-shaped traction element 17a, and the third annular groove 132 is used for positioning and winding the second strip-shaped traction element 17b, so as to position and limit the winding positions of the first strip-shaped traction element 17a and the second strip-shaped traction element 17b, prevent the first strip-shaped traction element 17a from deviating on the first reversing wheel 12 and the second reversing wheel 13, and prevent the second strip-shaped traction element 17b from deviating on the second reversing wheel 13, and the structure is more reasonable.

One end of a third strip traction piece 18a is fixedly connected to the upper end of the second lifting frame 16b, and the other end of the third strip traction piece 18a is sequentially wound on a third reversing wheel 14 and a fourth reversing wheel 15 along the counterclockwise direction and then is fixedly connected to a third rotor 80; one end of the fourth pulling element 18b is fixedly connected to the lower end of the second crane 16b, and the other end of the fourth pulling element 18b is wound around the third reversing wheel 14 in the clockwise direction and then is fixedly connected to the third rotor 80. When the distance between the third mover 80 and the second mover 70 changes, the third mover 80 can drive the third strip pulling element 18a and the fourth strip pulling element 18b to drive the second crane 16b to move along the direction parallel to the Z axis in a matching manner. Optionally, in the present embodiment, the third strip pulling element 18a and the fourth strip pulling element 18b are arranged at intervals along the Y axis to avoid contact friction between the third strip pulling element 18a and the fourth strip pulling element 18b, and the structure is more reasonable, but not limited thereto. In this embodiment, the third diverting pulley 14 is provided with a fourth annular groove 141 and a fifth annular groove 142, the fourth diverting pulley 15 is provided with a sixth annular groove 151, the fourth annular groove 141 and the sixth annular groove 151 are used for positioning and winding the third strip pulling element 18a, and the fifth annular groove 142 is used for positioning and winding the fourth strip pulling element 18b, so as to position and limit the winding positions of the third strip pulling element 18a and the fourth strip pulling element 18b, prevent the third strip pulling element 18a from deviating on the third diverting pulley 14 and the fourth diverting pulley 15, and prevent the fourth strip pulling element 18b from deviating on the third diverting pulley 14, and the structure is more reasonable.

Furthermore, the second lifting frame 16b is formed with an inclined guide part 161 inclined from the upper back to the lower front, and the actuator 90 is movably arranged on the first lifting frame 16a along the direction parallel to the Y axis, and optionally, the actuator 90 is movably arranged on the first lifting frame 16a through a structure matched with the guide rail, but not limited thereto. And the actuating member 90 is also slidably connected to the inclined guide portion 161, so that the actuating member 90 is in transmission connection with the first mover 60, the second mover 70 and the third mover 80, and the movement direction thereof is changed.

Alternatively, in this embodiment, one end of the first bar-shaped pulling element 17a fixedly connected to the first mover 60 and one end of the second bar-shaped pulling element 17b fixedly connected to the first mover 60 are integrally formed, that is, the first bar-shaped pulling element 17a and the second bar-shaped pulling element 17b are integrally formed. The third strip-shaped pulling element 18a is fixedly connected to one end of the third mover 80, and the fourth strip-shaped pulling element 18b is fixedly connected to one end of the third mover 80, which are integrally formed, that is, the third strip-shaped pulling element 18a and the fourth strip-shaped pulling element 18b are integrally formed. For example, the first strip-shaped pulling element 17a, the second strip-shaped pulling element 17b, the third strip-shaped pulling element 18a and the fourth strip-shaped pulling element 18b may be selected from a steel wire rope, a transmission belt, etc., but not limited thereto, and thus, the description thereof is omitted.

Furthermore, the YZ-axis reversing transmission mechanism 10 further includes: the roller 19, the roller 19 is pivoted on the executive component 90, the roller 19 is rolled on the inclined guiding part 161, so as to realize the sliding connection structure of the executive component 90 and the inclined guiding part 161, reduce the friction resistance and have a more reasonable structure. For example, in the embodiment, the inclined guiding portion 161 can be selected as a long hole or a long groove opened on the second lifting frame 16b for the rolling of the roller 19, so as to guide the roller 19, and the structure is simpler.

For example, in the present embodiment, the first, second and

third movers

60, 70 and 80 can be driven by linear motors, i.e., the first, second and

third movers

60, 70 and 80 are three movers of one three-mover linear motor, but not limited thereto.

It should be noted that the actuating member 90 is used for installing various types of external actuating mechanisms, so that the actuating member 90 drives the corresponding actuating mechanism to move.

With reference to fig. 1 to fig. 5, the working principle of the three-degree-of-freedom reversing device 100a of the first embodiment in the embodiment of the present application will be described in detail:

first, the first mover 60 and the second mover 70 are relatively displaced in the X-axis direction by X₁Showing that X is a relative displacement between the third mover 80 and the second mover 70 in the X-axis direction₂Showing that the second mover 70 is displaced in the X-axis direction by X₀Is shown, in which Max (X)₁)<Max(X₂) The displacements of the actuator 90 in the X, Y and Z directions are indicated at X, Y and Z, respectively.

When X is present₁＝X₂＝0，X₀When not equal to 0, that is, there is no relative displacement between the first mover 60 and the second mover 70, and between the third mover 80 and the second mover 70 along the X axis, and there is no relative displacement between the first crane 16a and the second crane 16b along the Z axis, and the actuator 90 has X ═ X₀Displacement of Y-0 and Z-0.

When X is present₁＝X₂Not equal to 0, X0 not equal to 0, that is, there are equal relative displacements along the X axis between the first mover 60 and the second mover 70, and between the third mover 80 and the second mover 70, and there is no relative displacement along the Z axis between the first crane 16a and the second crane 16b, and the actuator 90 has X ═ X₀，Y＝0，Z＝X₂＝X₁Displacement of (2).

When X is present₁≠X₂，X₀When the displacement is not equal to 0, namely unequal relative displacements exist between the first rotor 60 and the second rotor 70 and between the third rotor 80 and the second rotor 70 along the X axis, and relative displacements exist between the first crane 16a and the second crane 16b along the Z axis, so that the roller 19 is guided by the inclined guide part 161 to drive the actuating member 90 to move on the Y axis and the Z axis simultaneously, and the actuating member 90 has X ═ X₀，Y＝(X₂-X₁)tanθ，Z＝X₁Displacement in three directions, where θ is the angle between the inclined guide 161 and the Y axis.

Therefore, the displacement transmission of the first mover 60, the second mover 70 and the third mover 80 in the X axis is converted into the displacement of the actuating member 90 in three degrees of freedom, namely the X axis, the Y axis and the Z axis.

Referring to fig. 6 to 10, a three-degree-of-freedom reversing device 100b of the second embodiment in the embodiment of the present application is shown, and the three-degree-of-freedom reversing device 100b of the present embodiment is different from the three-degree-of-freedom reversing device 100a of the first embodiment only in the specific structure of the YZ-axis reversing transmission mechanism 20. The method comprises the following specific steps:

in the present embodiment, the YZ axis reversing gear 20 includes: the base plate 21 is fixed on the second rotor 70, the first reversing wheel 22 and the second reversing wheel 23 are pivoted on the base plate 21, the pivot axes of the first reversing wheel 22 and the second reversing wheel 23 are parallel to the Y axis, and the first reversing wheel 22 and the second reversing wheel 23 are sequentially arranged at intervals along the positive direction of the X axis. The lifting frame 26 is movably disposed on the base plate 21 along a direction parallel to the Z axis, and optionally, the lifting frame 26 is movably disposed on the base plate 21 through a structure matched with the guide rail, but not limited thereto. One end of the first strip-shaped traction piece 27a is fixedly connected to the upper end of the lifting frame 26, and the other end of the first strip-shaped traction piece 27a is sequentially wound on the second reversing wheel 23 and the first reversing wheel 22 along the clockwise direction and then is fixedly connected to the first rotor 60; one end of the second strip-shaped traction piece 27b is fixedly connected to the lower end of the lifting frame 26, and the other end of the second strip-shaped traction piece 27b is wound on the second reversing wheel 23 along the counterclockwise direction and then is fixedly connected to the first rotor 60. When the distance between the first mover 60 and the second mover 70 changes, the first mover 60 can drive the first strip-shaped traction member 27a and the second strip-shaped traction member 27b to cooperate with transmission to drive the lifting frame 26 to move along the direction parallel to the Z axis. Optionally, in the present embodiment, the first strip pulling element 27a and the second strip pulling element 27b are arranged at intervals along the Y axis to avoid contact friction between the first strip pulling element 27a and the second strip pulling element 27b, and the structure is more reasonable, but not limited thereto. In this embodiment, the first reversing wheel 22 is provided with a first annular groove 221, the second reversing wheel 23 is provided with a second annular groove 231 and a third annular groove 232, the first annular groove 221 and the second annular groove 231 are used for positioning and winding the first strip-shaped pulling element 27a, and the third annular groove 232 is used for positioning and winding the second strip-shaped pulling element 27b, so as to position and limit the winding positions of the first strip-shaped pulling element 27a and the second strip-shaped pulling element 27b, prevent the first strip-shaped pulling element 27a from deviating on the first reversing wheel 22 and the second reversing wheel 23, and prevent the second strip-shaped pulling element 27b from deviating on the second reversing wheel 23, and the structure is more reasonable.

Furthermore, the guide frame 24 is fixed on the third mover 80, a guide inclined plane 241 is vertically arranged on the guide frame 24, and the guide inclined plane 241 is obliquely arranged from the left rear direction to the right front direction; the actuating member 90 is movably disposed on the lifting frame 26 along a direction parallel to the Y-axis, and optionally, the actuating member 90 is movably disposed on the lifting frame 26 by a structure matched with a guide rail, but not limited thereto. The elastic element 25 may be a spring, but not limited thereto, the elastic element 25 is connected between the lifting frame 26 and the actuating element 90, and the elastic element 25 constantly drives the actuating element 90 to slide and abut against the guiding inclined plane 241, so as to realize transmission connection and movement reversing between the actuating element 90 and the first mover 60, the second mover 70 and the third mover 80. Optionally, the actuating member 90 is formed with an arc structure which is in sliding contact with the guiding inclined surface 241, so that the sliding contact between the actuating member 90 and the guiding inclined surface 241 is more flexible and smoother, the frictional resistance is reduced, and the structure is more reasonable, but not limited thereto.

Alternatively, in the present embodiment, one end of the first bar-shaped pulling member 27a fixedly connected to the first mover 60 and one end of the second bar-shaped pulling member 27b fixedly connected to the first mover 60 are integrally formed, that is, the first bar-shaped pulling member 27a and the second bar-shaped pulling member 27b are integrally formed. For example, the first strip-shaped pulling member 27a and the second strip-shaped pulling member 27b can be selected from a steel wire rope, a transmission belt, etc., but not limited thereto, and thus, they will not be described in detail herein.

For example, in the present embodiment, the first mover 60, the second mover 70 and the third mover 80 may be selectively driven by linear motors, that is, the first mover 60 and the second mover 70 are two movers of a dual-mover linear motor, and the third mover 80 is a mover of a common single-mover linear motor, but not limited thereto.

With reference to fig. 6 to fig. 10, the working principle of the three-degree-of-freedom reversing device 100b of the second embodiment in the embodiment of the present application will be described in detail:

first, the first mover 60 and the second mover 70 are relatively displaced in the X-axis direction by X₁Showing that X is a relative displacement between the third mover 80 and the second mover 70 in the X-axis direction₂Showing that the second mover 70 is displaced in the X-axis direction by X₀As shown, displacements of the actuator 90 in the X, Y and Z directions are indicated at X, Y and Z, respectively.

When the second mover 70 is displaced in the X-axis direction by X₀The first mover 60 and the second mover 70 have a relative displacement X along the X-axis₁And a relative displacement X between the third mover 80 and the second mover 70 along the X-axis₂In this case, the traction and reversing structure of the first strip-shaped traction member 27a and the second strip-shaped traction member 27b can shift the first mover 60 and the second mover 70 relative to each other by the relative displacement X₁Is converted into the displacement Z ═ X of the actuating member 90 in the Z-axis direction₁The displacement of the actuator 90 in the Y-axis direction is Y ═ X₂tan θ, where θ is an included angle between the guiding inclined surface 241 and the X axis, and the guiding inclined surface 241 does not interfere with the movement of the actuator 90 in the Z axis direction, that is, the displacements of the actuator 90 in the Y axis and the Z axis are independent from each other, and finally the displacements of the output actuator 90 in the X axis, the Y axis and the Z axis are X ═ X, respectively₀，Y＝X₂tanθ，Z＝X₁。

Referring to fig. 11 to 14, a three-degree-of-freedom reversing device 100c according to a third embodiment of the present application is shown, and the three-degree-of-freedom reversing device 100c according to the present embodiment is different from the three-degree-of-freedom reversing device 100a according to the first embodiment only in the specific structure of the YZ-axis reversing transmission mechanism 30. The method comprises the following specific steps:

in the present embodiment, the YZ axis reversing gear mechanism 30 includes: the first guide frame 31, the second guide frame 32, the third guide frame 33, the first movable frame 34, and the second movable frame 35, and the second movable frame 70 are located between the first movable frame 60 and the third movable frame 80 in the Z-axis direction. The first guide frame 31 is fixed to the first mover 60, the second guide frame 32 is fixed to the second mover 70, and the third guide frame 33 is fixed to the third mover 80. The first translation frame 34 is movably disposed on the second guide frame 32 along a direction parallel to the Y-axis, and optionally, the first translation frame 34 is movably disposed on the second guide frame 32 through a structure of rail matching, but not limited thereto. The first guide frame 31 is formed with a first inclined guide part 311 inclined from left front to right rear, and the first translation frame 34 is also connected with the first inclined guide part 311 in a sliding manner, so that the first translation frame 34 is simultaneously connected with the second guide frame 32 and the first guide frame 31 in a transmission manner. The second moving frame 35 is movably disposed on the third guiding frame 33 along a direction parallel to the Y-axis, and optionally, the second moving frame 35 is movably disposed on the third guiding frame 33 through a structure of matching with a guide rail, but not limited thereto. And the second translational frame 35 is movably disposed on the first translational frame 34 along a direction parallel to the X-axis, and optionally, the second translational frame 35 is movably disposed on the first translational frame 34 by a structure matched with a guide rail, but not limited thereto. Thereby, the second translational carriage 35 is simultaneously in transmission connection with the third guide carriage 33 and the first translational carriage 34. The second translational frame 35 is formed with a second inclined guide portion 351 inclined from a lower left to an upper right, the actuator 90 is movably disposed on the first translational frame 34 along a direction parallel to the Z axis, and alternatively, the actuator 90 is movably disposed on the first translational frame 34 by a structure of a guide rail fit, but not limited thereto. And the actuator 90 is further slidably connected to the second inclined guiding portion 351, so that the actuator 90 is in transmission connection with the first mover 60, the second mover 70 and the third mover 80, and can be moved and reversed.

Optionally, the YZ-axis reversing transmission mechanism 30 further includes: first roller 36 and second roller 37, first roller 36 is pivoted on first translation frame 34, first roller 36 rolls and locates on first slope guide part 311 to realize first translation frame 34 and the structure of first slope guide part 311 sliding connection, and can reduce frictional resistance, the structure is more reasonable. For example, in the present embodiment, the first inclined guiding portion 311 may be selected as a long hole or a long groove formed on the first guiding frame 31 for the first roller 36 to roll, so as to realize the guiding function for the first roller 36, and the structure is simpler. The second roller 37 is pivotally connected to the actuator 90, and the second roller 37 is rolled on the second inclined guiding portion 351. The structure that the actuating member 90 is connected with the second inclined guiding part 351 in a sliding mode can be achieved, friction resistance can be reduced, and the structure is more reasonable. For example, in the present embodiment, the second inclined guiding portion 351 can be selected as a long hole or a long groove opened on the second moving frame 35 for the second roller 37 to roll, so as to guide the second roller 37, and the structure is simpler.

For example, in the present embodiment, the first, second and

third movers

60, 70 and 80 can be driven by linear motors, i.e., the first, second and

third movers

60, 70 and 80 are independent movers of a common single-mover linear motor, but not limited thereto.

With reference to fig. 11 to fig. 14, the working principle of the three-degree-of-freedom reversing device 100c in the third embodiment in the embodiment of the present application is described in detail:

first, the first mover 60 and the second mover 70 are relatively displaced in the X-axis direction by X₁Showing that X is a relative displacement between the third mover 80 and the second mover 70 in the X-axis direction₂Showing that the second mover 70 is displaced in the X-axis direction by X₀Showing the first translator 34 positioned in the Y-axis direction for Y₁Showing that the second carriage 35 is located in the Y-axis direction for Y₂As shown, displacements of the actuator 90 in the X, Y and Z directions are indicated at X, Y and Z, respectively.

When X is present₀≠0，X₁＝X₂When the displacement is equal to 0, that is, there is no relative displacement between the first mover 60 and the second mover 70, and between the third mover 80 and the second mover 70 along the X-axis,the second mover 70 is displaceable along the X-axis, and the actuator 90 has X ═ X₀Y is 0, and Z is 0.

When X is present₀≠0，X₁≠0，X₂When the position is not equal to 0, relative displacements are respectively generated between the first mover 60 and the second mover 70, and between the third mover 80 and the second mover 70 along the X-axis, displacements are generated between the second mover 70 along the X-axis, and the first inclined guide portion 311 drives the first roller 36 to drive the first translation frame 34 to generate a displacement Y in the Y-axis direction₁＝X₁tanθ₁Wherein theta₁The angle between the first inclined guiding portion 311 and the X-axis is defined, and since the second moving frame 35 is disposed on the first moving frame 34 in a direction parallel to the X-axis, the first moving frame 34 and the second moving frame 35 move synchronously in the Y-axis direction, so that the second moving frame 35 moves along the Y-axis direction to be Y₂＝Y₁＝X₁tanθ₁. Meanwhile, the third mover 80 and the second mover 70 are relatively displaced along the X-axis, and the second moving frame 35 is moved in the direction parallel to the Y-axis and is mounted on the third guide frame 33, so that the second moving frame 35 and the third guide frame 33 are moved in synchronization with each other in the X-axis direction, and the relative displacement between the second inclined guide portion 351 and the first moving frame 34 along the X-axis direction is X₂So that the actuator 90 obtains a displacement Z ═ X in the Z direction₂tanθ₂Wherein theta₂The second inclined guiding portion 351 is at an angle with the X axis, so the displacement of the actuator 90 in the X axis, the Y axis and the Z axis is X ═ X₀，Y＝Y₂＝Y₁＝X₁tanθ₁，Z＝X₂tanθ₂。

Referring to fig. 15 to fig. 19, a three-degree-of-freedom reversing device 100d according to a fourth embodiment of the present application is shown, and the three-degree-of-freedom reversing device 100d of the present embodiment is different from the three-degree-of-freedom reversing device 100a of the first embodiment only in the specific structure of the YZ-axis reversing transmission mechanism 40. The method comprises the following specific steps:

in the present embodiment, the YZ axis reversing gear mechanism 40 includes: the first and

second movers

60 and 70 are located above the third mover 80, and the first and

second movers

70 and 70 are fixed to the second mover 70. The first lifting frame 42 and the second lifting frame 43 are both movably disposed on the base plate 41 along a direction parallel to the Z axis, and optionally, the first lifting frame 42 and the second lifting frame 43 are both movably disposed on the base plate 41 through a structure matched with the guide rail, but not limited thereto. The first guide frame 44 is fixed on the first mover 60, a first inclined guide part 441 inclined from the lower left to the upper right is formed on the first guide frame 44, and the first lifting frame 42 is further slidably connected to the first inclined guide part 441, so that the first lifting frame 42 is simultaneously in transmission connection with the substrate 41 and the first guide frame 44. The second guide frame 45 is fixed on the second mover 70, a second inclined guide part 451 inclined from the lower left to the upper right is formed on the second guide frame 45, and the second lifting frame 43 is further connected to the second inclined guide part 451 in a sliding manner, so that the second lifting frame 43 is simultaneously in transmission connection with the substrate 41 and the second guide frame 45. The second lifting frame 43 is formed with a third inclined guiding part 431 inclined from the back upper side to the front lower side, the actuating member 90 is movably arranged on the first lifting frame 42 along the direction parallel to the Y axis, and optionally, the actuating member 90 is movably arranged on the first lifting frame 42 by a structure matched with a guide rail, but not limited thereto. And the actuating member 90 is also slidably connected to the third inclined guide portion 431, so that the actuating member 90 is in transmission connection with the first mover 60, the second mover 70 and the third mover 80 and can be moved and reversed.

Optionally, the YZ axis reversing transmission mechanism 40 further includes: the first roller 46, the second roller 47 and the third roller 48, the first roller 46 is pivoted on the first lifting frame 42, the first roller 46 is rolled on the first inclined guiding part 441, so that the sliding connection structure of the first lifting frame 42 and the first inclined guiding part 441 is realized, the friction resistance can be reduced, and the structure is more reasonable. For example, in the present embodiment, the first inclined guiding portion 441 may be selected as a long hole or a long groove opened on the first guiding frame 44 for the first roller 46 to roll, so as to guide the first roller 46, and the structure is simpler, and of course, the specific structure of the first inclined guiding portion 441 is not limited thereto, and may be selected as other implementing structures according to actual requirements, and therefore, the details are not repeated herein. The second roller 47 is pivoted on the second lifting frame 43, and the second roller 47 is arranged on the second inclined guiding part 451 in a rolling manner, so that the sliding connection structure of the second lifting frame 43 and the second inclined guiding part 451 is realized, the friction resistance can be reduced, and the structure is more reasonable. For example, in the embodiment, the second inclined guiding portion 451 may be selected as a long hole or a long groove formed on the second guiding frame 45 for the second roller 47 to roll, so as to guide the second roller 47, and the structure is simpler, and of course, the specific structure of the second inclined guiding portion 451 is not limited thereto, and may be selected as other implementing structures according to actual requirements, and therefore, the details are not described herein again. The third roller 48 is pivoted to the actuator 90, and the second roller 47 is rolled on the third inclined guiding portion 431, so that the actuator 90 and the third inclined guiding portion 431 are slidably connected, the friction resistance can be reduced, and the structure is more reasonable. For example, in the embodiment, the third inclined guiding portion 431 may be selected as a long hole or a long groove opened on the second lifting frame 43 for the third roller 48 to roll, so as to guide the third roller 48, and the structure is simpler.

With reference to fig. 15 to fig. 19, the operation principle of the three-degree-of-freedom reversing device 100d according to the fourth embodiment of the present application will be described in detail:

first, a first moverX for relative displacement between the second mover 70 and the second mover 60 in the X-axis direction₁Showing that X is a relative displacement between the third mover 80 and the second mover 70 in the X-axis direction₂Showing that the second mover 70 is displaced in the X-axis direction by X₀Is shown, in which Max (X)₁)<Max(X₂) Z for the displacement of the first crane 42 in the Z-axis direction₁Showing that the second crane 43 is displaced in the Z-axis direction by Z₂Showing that the relative displacement between the first crane 42 and the second crane 43 in the Z-axis direction is Z₃As shown, displacements of the actuator 90 in the X, Y and Z directions are indicated at X, Y and Z, respectively.

When X is present₀≠0，X₁＝X₂When the X axis is equal to 0, that is, there is no relative displacement between the first movable element 60 and the second movable element 70, and between the third movable element 80 and the second movable element 70 along the X axis, and there is no relative displacement between the first lifting frame 42 and the second lifting frame 43 along the Z axis, the actuator 90 has X equal to X₀Displacement of Y-0 and Z-0.

When X is present₀≠0，X₁≠0，X₂When the displacement is not equal to 0, that is, there are equal relative displacements along the X axis between the first mover 60 and the second mover 70, and between the third mover 80 and the second mover 70, and there is a displacement along the X axis of the second mover 70, the first inclined guide portion 441 drives the first roller 46 to drive the first crane 42 to generate a Z-axis displacement Z₁＝X₁tanθ₁Wherein theta₁The first inclined guiding portion 441 forms an included angle with the X axis, and since the actuating member 90 is disposed on the first lifting frame 42 in a manner of moving along a direction parallel to the Y axis, the actuating member 90 and the first lifting frame 42 move synchronously along the Z axis, and the displacement of the actuating member 90 along the Z axis is Z ═ Z₁＝X₁tanθ₁；

Meanwhile, the second inclined guiding part 451 drives the second roller 47 to drive the second lifting frame 43 to generate a displacement Z in the Z-axis direction₂＝X₂tanθ₂Wherein theta₂The relative displacement Z between the first lifting frame 42 and the second lifting frame 43 along the Z-axis direction is the included angle between the second inclined guide part 451 and the X-axis₃＝Z₂-Z₁＝X₂tanθ₂-X₁tanθ₁；

The third inclined guiding portion 431 drives the third roller 48 to drive the actuating member 90 to generate a displacement Y ═ Z in the Y axis direction₃tanθ₃＝(X₂tanθ₂-X₁tanθ₁)tanθ₃Wherein theta₃Is the angle between the third inclined guide part 431 and the Z axis;

accordingly, the displacement of the actuator 90 in the X, Y and Z axes is X ═ X, respectively₀，Y＝(X₂tanθ₂-X₁tanθ₁)tanθ₃，Z＝X₁tanθ₁。

Therefore, the displacement transmission of the first mover 60, the second mover 70 and the third mover 80 in the X axis is converted into the displacement of the actuator 90 in three degrees of freedom, namely the X axis, the Y axis and the Z axis.

It should be noted that, in the present application, the YZ-axis reversing

transmission mechanisms

10, 20, 30, and 40 convert the displacement transmission of the first mover 60, the second mover 70, and the third mover 80 along the X-axis direction into the displacement of the actuator 90 along the three directions of the X-axis, the Y-axis, and the Z-axis, and the specific implementation structures of the YZ-axis reversing

transmission mechanisms

10, 20, 30, and 40 are not limited to the above four exemplary embodiments, in other embodiments, the YZ-axis reversing

transmission mechanisms

10, 20, 30, and 40 may further select a reversing unit composed of at least one of a steel wire rope, a chute, a guide rail, and a guide slope (a wedge), etc. to convert the displacement transmission of the first mover 60, the second mover 70, and the third mover 80 along the X-axis direction into the displacement of the actuator 90 in the three directions of the X-axis, the Y-axis, and the Z-axis, which are all within the protection scope of the present application, and therefore, no further description is provided herein.

In detail, the three-degree-of-

freedom reversing devices

100a, 100b, 100c, and 100d of the present application can achieve the following beneficial effects:

(1) this application adopts parallel structure to reduce inertia: the current solutions of XYZ three degrees of freedom on the market mainly include: lead screw module, linear electric motor module, hold-in range module etc. these solutions have common shortcoming: the motors drive the motors to move, so that motion inertia loaded by the motors is increased, and the whole speed is difficult to increase, the three-degree-of-

freedom reversing devices

100a, 100b, 100c and 100d of the present application are of a parallel structure, that is, linear motors driving the first rotor 60, the second rotor 70 and the third rotor 80 to move are all fixed on the same base 50, and the displacement transmission of the first rotor 60, the second rotor 70 and the third rotor 80 along the X-axis direction is converted into the displacement of the actuating element 90 in the three directions of the X-axis, the Y-axis and the Z-axis through the YZ-axis reversing

transmission mechanisms

10, 20, 30 and 40, so that the problem of large motion inertia is well solved, and the XYZ platform with high speed (acceleration of 4G), high precision (+/-0.04 mm) and low cost is obtained.

(2) The precision distribution is uniform: the existing three-degree-of-freedom Delta parallel manipulator on the market has uneven precision in the motion range, shows that the precision is gradually reduced from the middle to two sides and can only reach +/-0.1 mm, the problem is well solved by the application, the original high precision of the linear motor for driving the first rotor 60, the second rotor 70 and the third rotor 80 to move is well reserved by utilizing the YZ shaft reversing

transmission mechanisms

10, 20, 30 and 40 to carry out combined reversing, the Jacobian matrix determinant of the structural motion space is 1, namely the precision is consistent in the motion range, the repeated positioning precision can be predicted to reach +/-0.04 mm, and the precision is improved by more than one time compared with the Delta parallel manipulator.

(3) In rectangular shape work interval, space utilization is high: the structure of the whole commutator is not influenced by the length change of the three-freedom-

degree reversing devices

100a, 100b, 100c and 100d in the X-axis direction, and the length of the linear motor is only required to be changed to adjust and drive the stroke lengths of the first rotor, the second rotor 70 and the third rotor 80 in the X-axis direction.

(4) The mounting mode is various: the three-degree-of-

freedom reversing devices

100a, 100b, 100c and 100d can be installed at the top or at the side, are simple and flexible to install, and increase the diversity of the overall layout design of equipment.

(5) The cost performance is high: the YZ shaft reversing

transmission mechanisms

10, 20, 30 and 40 in the application are simple and light in structure, the cost of the YZ shaft reversing transmission mechanisms is much lower than that of Delta parallel manipulators and Scara serial manipulators, high speed, high precision and low cost are really realized, and the YZ shaft reversing transmission mechanisms have great market prospects.

In summary, the three-degree-of-freedom reversing devices 100a, 100b, 100c, and 100d of the present application include: the base 50, the first mover 60, the second mover 70, the third mover 80, the YZ-axis reversing transmission mechanisms 10, 20, 30, 40 and the executing element 90 establish a spatial rectangular coordinate system by taking the horizontal rightward direction on the base 50 as the positive direction of the X axis, the horizontal forward direction on the base 50 as the positive direction of the Y axis and the vertical upward direction on the base 50 as the positive direction of the Z axis; the first mover 60, the second mover 70 and the third mover 80 are all disposed on the base 50 to move along a direction parallel to the X-axis, the YZ-axis reversing transmission mechanisms 10, 20, 30 and 40 are simultaneously and correlatively transmitted among the first mover 60, the second mover 70, the third mover 80 and the actuator 90, and the YZ-axis reversing transmission mechanisms 10, 20, 30 and 40 convert the displacement transmission of the first mover 60, the second mover 70 and the third mover 80 along the X-axis direction into the displacement of the actuator 90 in three directions, namely, the X-axis direction, the Y-axis direction and the Z-axis direction. Then, by the parallel structure in which the first mover 60, the second mover 70 and the third mover 80 are all disposed on the base 50 and move in the direction parallel to the X axis, when the first mover 60, the second mover 70 and the third mover 80 generate different displacements in the direction parallel to the X axis according to motion requirements, the displacement transmission of the first mover 60, the second mover 70 and the third mover 80 in the X axis direction can be converted into displacements of the actuator 90 in the three directions of the X axis, the Y axis and the Z axis by the YZ-axis reversing

transmission mechanisms

10, 20, 30 and 40, that is, the degrees of freedom in the three X axis directions can be converted into the degrees of freedom in the three different directions of the X axis, the Y axis and the Z axis. On the one hand, the structure is simple and compact, the traditional series structure is replaced, the motion inertia is reduced, the problem of large motion inertia is well solved, the action is quick and flexible, and the manufacturing cost is greatly reduced. On the other hand, the degrees of freedom in three X-axis directions are converted into the degrees of freedom in three different directions, namely, the X-axis direction, the Y-axis direction and the Z-axis direction, by the YZ-axis reversing

transmission mechanisms

10, 20, 30 and 40, so that the displacement accuracy of the first mover 60, the second mover 70 and the third mover 80 can be well maintained, the accuracy distribution is uniform, and the accuracy is greatly improved. Moreover, the installation is simple nimble, and can adapt to the workspace of different shapes, equidimension not, the motion in the rectangular shape workspace that the specially adapted aspect ratio is big, and space utilization improves greatly, need not to set up a plurality ofly, and use cost is greatly reduced also. Therefore, the three-degree-of-

freedom reversing devices

100a, 100b, 100c and 100d have the advantage of high cost performance, really realize high speed, high precision and low cost, and have great market prospects.

The present application has been described in connection with the embodiments, but the present application is not limited to the embodiments disclosed above, and is intended to cover various modifications, equivalent combinations, according to the essence of the present application.

Claims

1. A three-degree-of-freedom reversing device is characterized by comprising: the device comprises a base body, a first rotor, a second rotor, a third rotor, a YZ-axis reversing transmission mechanism and an executing part, wherein a space rectangular coordinate system is established by taking the horizontal rightward direction on the base body as the positive direction of an X axis, taking the horizontal forward direction on the base body as the positive direction of a Y axis and taking the vertical upward direction on the base body as the positive direction of a Z axis; the first rotor, the second rotor and the third rotor are all arranged on the base body in a moving mode along a direction parallel to the X axis, the YZ-axis reversing transmission mechanism is simultaneously in linkage transmission among the first rotor, the second rotor, the third rotor and the executing part, and the YZ-axis reversing transmission mechanism converts the moving transmission of the first rotor, the second rotor and the third rotor along the X axis into the moving transmission of the executing part in the X axis direction, the Y axis direction and the Z axis direction.

2. A three-degree-of-freedom reversing device according to claim 1, wherein the YZ-axis reversing transmission mechanism comprises: a base plate, a first reversing wheel, a second reversing wheel, a third reversing wheel, a fourth reversing wheel, a first lifting frame, a second lifting frame, a first strip-shaped traction piece, a second strip-shaped traction piece, a third strip-shaped traction piece and a fourth strip-shaped traction piece,

3. The three-degree-of-freedom reversing device according to claim 2, wherein the first strip-shaped traction member is fixedly connected to one end of the first rotor, the second strip-shaped traction member is fixedly connected to one end of the first rotor, and the third strip-shaped traction member is fixedly connected to one end of the third rotor, and the fourth strip-shaped traction member is fixedly connected to one end of the third rotor.

4. A three degree-of-freedom reversing device according to claim 2, wherein the YZ-axis reversing transmission mechanism further comprises: the roller is pivoted on the executing piece and is arranged on the inclined guide part in a rolling manner.

5. A three-degree-of-freedom reversing device according to claim 1, wherein the YZ-axis reversing transmission mechanism comprises: a base plate, a first reversing wheel, a second reversing wheel, a first strip-shaped traction piece, a second strip-shaped traction piece, a lifting frame, a guide frame and an elastic piece,

6. The three-degree-of-freedom reversing device of claim 5, wherein the first strip-shaped pulling member is fixedly connected to one end of the first rotor, and the second strip-shaped pulling member is fixedly connected to one end of the first rotor to form an integrally formed structure.

7. A three-degree-of-freedom reversing device according to claim 1, wherein the YZ-axis reversing transmission mechanism comprises: a first guide frame, a second guide frame, a third guide frame, a first translation frame and a second translation frame,

the first translation frame is arranged on the second guide frame in a moving mode along a direction parallel to the Y axis, a first inclined guide part which is inclined from the left front to the right rear is formed on the first guide frame, and the first translation frame is further connected with the first inclined guide part in a sliding mode;

the second translation frame is provided with a second inclined guide part which is inclined from the lower left to the upper right, the actuating piece is arranged on the first translation frame in a moving mode along the direction parallel to the Z axis, and the actuating piece is further connected with the second inclined guide part in a sliding mode.

8. A three degree-of-freedom reversing device according to claim 7, wherein the YZ-axis reversing gear further comprises: the first rolling wheel is pivoted on the first translation frame and is arranged on the first inclined guide part in a rolling manner; the second roller is pivoted on the executing piece and is arranged on the second inclined guide part in a rolling manner.

9. A three-degree-of-freedom reversing device according to claim 1, wherein the YZ-axis reversing transmission mechanism comprises: a base plate, a first lifting frame, a second lifting frame, a first guide frame and a second guide frame,

the first lifting frame and the second lifting frame are arranged on the substrate in a moving mode along a direction parallel to the Z axis, the first guide frame is fixed on the first rotor, a first inclined guide part which is inclined from the lower left to the upper right is formed on the first guide frame, and the first lifting frame is further connected to the first inclined guide part in a sliding mode; the second guide frame is fixed on the second mover, a second inclined guide part inclined from the lower left to the upper right is formed on the second guide frame, and the second lifting frame is further connected to the second inclined guide part in a sliding mode;

10. A three degree-of-freedom reversing device according to claim 9, wherein the YZ-axis reversing gear further comprises: the first roller is pivoted on the first lifting frame and is arranged on the first inclined guide part in a rolling manner; the second roller is pivoted on the second lifting frame and is arranged on the second inclined guide part in a rolling manner; the third roller is pivoted on the executing piece, and the second roller is arranged on the third inclined guiding part in a rolling manner.