TW202005744A - Composite parallel mechanism apparatus capable of achieving the purposes of simple structure, low cost, high structural rigidity, high processing speed, low inertia, high processing accuracy, multifunctional and high flexibility, and long service life - Google Patents

Abstract

The present invention relates to a composite parallel mechanism apparatus, which includes a chassis, a processing device and a parallel mechanism. The processing device is installed on the chassis and includes at least one spindle. A tool holder is provided at one end of the spindle for holding and fixing a tool to drive the tool to rotate. The parallel mechanism is installed on the chassis and is opposite to the processing device. The parallel mechanism includes a fixed platform, a movable platform, a plurality of linking branch chains, a plurality of driving units, and a clamping and rotating unit. The movable platform is connected to the fixed platform through the plurality of linking branch chains and the plurality of driving units. The plurality of driving units respectively drive the plurality of linking branch chains to drive the movable platform to perform three-dimensional spatial movement. The clamping and rotating unit is arranged on the movable platform to fix a workpiece and to drive the workpiece to rotate. As such, the present invention achieves the purposes of simple structure, low cost, high structural rigidity, high processing speed, low inertia, high processing accuracy, multifunctional and high flexibility, and long service life.

Description

Compound parallel mechanism equipment

The invention relates to a processing device, especially a compound parallel mechanism device.

According to the conventional integrated machining center machine, the workpiece is fixed on the work surface. The spindle with the tool is programmed and moved by each axial slide. To meet the rigid performance and movement stroke of the spindle during cutting, it usually causes The structural design is too large and bulky, which is not conducive to high-speed mobile cutting.

The traditional integrated processing center machine has the following disadvantages: 1. The structure is complex, modularization cannot be achieved, and the manufacturing and inventory costs are high. 2. The structural rigidity is low, easy to deform and damage due to excessive load. 3. Slow processing speed and high inertia. 4. It has the phenomenon of geometric error accumulation and amplification, and the processing accuracy is low. 5. Cannot be applied to many kinds of processing, with low functionality and poor flexibility. 6. It is easy to cause scratches, abrasion or corrosion due to iron filings or coolant entering the guide rail, and the service life is short.

In view of the above-mentioned shortcomings of the traditional integrated processing center machine, the inventor has thought of and thoughts, and after many discussions and trial sample tests, and several revisions and improvements, finally launched the present invention.

The invention provides a compound parallel mechanism device, which comprises: a machine, the horizontal horizontal direction of the machine defines an X axis, the horizontal front and rear direction of the machine defines a Y axis, and the vertical up and down directions of the machine define a Z axis A processing device, the processing device is installed on the machine table, including at least one main shaft, the main shaft is provided with a tool holder at one end for clamping a fixed tool, driving the tool to rotate; and a parallel mechanism, the parallel The mechanism is installed on the machine table, corresponding to the processing device. The parallel mechanism includes a fixed platform, a movable platform, a plurality of linked branch chains, a plurality of driving units, and a clamping and rotating unit. The periphery of the movable platform is provided with a complex pivot The connecting part, each of the plurality of linking branch chains includes a rocker arm and two connecting rods, the rocker arm is provided with a rotating part at one end and a pivot part at the other end, the two connecting rods are arranged in parallel, and a first pivot is provided at one end A second pivoting part is provided at the other end of the rotating part, the first pivoting part of the two connecting rods is pivotally connected to both sides of the pivot part of the rocker arm, and the second pivoting part of the two connecting rods is parallel to the movable One of the pivoting parts of the scoop is pivotally connected on both sides, and the plurality of driving units are installed on the fixed platform corresponding to the plurality of linkage branches, and are respectively connected to the pivots of the rocker arms of the plurality of linkage branches for each Drive the plurality of linked branches to drive the movable platform to move in the three-dimensional space of X-axis, Y-axis and Z-axis. The clamping and rotating unit is set on the movable platform and moves with the movable platform. The clamping and rotating unit includes a A hollow rotating platform and a clamping base, the hollow rotating platform is disposed on the side of the movable platform close to the fixed platform, the clamping base is disposed on the side of the movable platform away from the fixed platform, and is combined with the hollow rotating platform through the movable platform It can be linked, and the holder can be rotated by a hollow rotating platform.

The main purpose of the compound parallel mechanism device of the present invention is that its structure is complex, it can be modularized, the manufacturing and inventory costs are high, it is easy to assemble and transport, the machine tool footprint is greatly reduced, and the structural rigidity is high, which is not easy due to excessive load. Deformation damage.

The second purpose of the compound parallel mechanism device of the present invention is that its processing speed is high and its inertia is low, there is no phenomenon of geometric error accumulation and amplification of traditional machine tools, and it has a thermally symmetrical structure design, so the thermal deformation is small and it has high precision The advantages.

Another object of the compound parallel mechanism device of the present invention is that it can be used to realize milling, boring, grinding and other processing, with high functionality and good flexibility, and there is no iron filings or cooling liquid entering the guide rail and causing it to scratch Injury, wear or rust phenomenon, long service life.

Please refer to the first, second, third, fourth, fifth and sixth figures. The first embodiment of the compound parallel mechanism device of the present invention includes: a machine 10 and a processing device 20 And a parallel mechanism 30.

The horizontal left and right directions of the machine 10 define an X axis, the horizontal front and back directions of the machine 10 are defined as a Y axis, and the vertical up and down directions of the machine 10 are defined as a Z axis.

The processing device 20 is installed on the machine 10 and includes a first servo slide 21, a second servo slide 22, a spindle 23, a power turret 24, a pneumatic slide 25 and a tool change mechanism 26, the first servo slide table 21 is arranged on the machine table 10 along the X-axis direction, the second servo slide table 22 is arranged on the machine table 10 along the Y-axis direction, and the main shaft 23 in this embodiment is Built-in electric spindle, the spindle 23 is set on the first servo slide 21, and the first servo slide 21 can drive the spindle 23 to move in the X-axis direction, the spindle 23 is provided with a tool seat 231 at one end The fixed tool is clamped to drive the tool to rotate. The power turret 24 is disposed on the second servo slide 22, and the second servo slide 22 can drive the power turret 24 to move in the Y-axis direction. The pneumatic slide table 25 is installed on the machine table 10 along the Y-axis direction, the tool change mechanism 26 is provided on the pneumatic slide table 25, and the pneumatic tool slide mechanism 25 can drive the tool change mechanism 26 to move along the Y-axis direction .

The parallel mechanism 30 is installed on the machine 10 and corresponds to the processing device 20. The parallel mechanism 30 includes a fixed platform 31, a movable platform 32, a plurality of linked branches 33, a plurality of drive units 34, and a clamping rotation Unit 35.

A plurality of pivoting portions 321 are protruded from the periphery of the movable platform 32. In this embodiment, three pivoting portions 321 are protruded from the periphery of the movable platform 32, and each pivoting portion 321 is provided with a pivoting hole 3211 penetrating horizontally.

In this embodiment, the plurality of linked branches 33 are three linked branches 33. Each linked branch 33 includes a rocker arm 331, two links 332, a first pivot unit 333, and a second pivot unit 334. The rocker arm 331 is provided with a rotating portion 3311 at one end and a pivot portion 3312 at the other end. The rotating portion 3311 is provided with a rotating hole 3313, the pivot portion 3312 is provided with a pivot hole 3314, and the two connecting rods 332 A first pivoting portion 3321 is provided at one end, and a second pivoting portion 3322 is provided at the other end. The first pivot unit 333 has two first rocker arm pivots 3331 and a first outer spacer ring 3332, the first pivot The unit 333 is disposed on the pivot portion 3312 of the rocker arm 331, the two first rocker arm rotating shafts 3331 are combined with the two sides of the pivot portion 3312 of the rocker arm 331, and a part of the two first rocker arm rotating shafts 3331 are penetrated through the In the pivot hole 3314 of the pivot portion 3312, the first outer spacer ring 3332 is received in the pivot hole 3114 of the pivot portion 3312, and is sleeved with the two first rocker arm rotating shafts 3331, and the two first rockers The arm pivot 3331 is pivotally connected to the first pivot portion 3321 of the two links 332 on both sides of the pivot portion 3312. The second pivot unit 334 has two second rocker pivots 3341 and a second outer spacer ring 3342 , The second pivot unit 334 is disposed on one of the pivoting portions 321 of the movable platform 32, the two second rocker shafts 3341 join the two sides of the pivot portion 321, and a portion of the two second rocker shafts 3341 The second outer spacer ring 3342 is received in the pivoting hole 3211 of the pivoting portion 321 and is sleeved with the two second rocker shafts 3341. The two second rocker rotating shafts 3341 are pivotally connected to the second pivoting portions 3322 of the two connecting rods 332 on both sides of the pivoting portion 321, so that the movable platform 32 is suspended supported by the plurality of linkage branches 33.

In this embodiment, the plural drive units 34 are three drive units 34, corresponding to the three linkage branches 33 installed on the fixed platform 31, respectively connected to the three linkage branches 33, each of the drive units 34 includes a fixed seat 341, a first driving device 342, a rocker shaft 343, a coupling 344, a first bearing seat 345 and a second bearing seat 346, the fixed seat 341 is installed on the fixed platform 31, the first In this embodiment, a driving device 342 is a servo motor, which is mounted on the fixed platform 31 through the fixing base 341, and the rocker arm shaft 343 is connected to the first driving device 342 through the coupling 344, and receives the first The driving device 342 drives forward and reverse rotations, and the rocker arm shaft 343 is combined with the rotating hole 3313 of the rocker arm 331 of the linking branch 33 so that the rocker arm 331 can rotate forward and reverse with the rocker arm shaft 343. The first bearing seat 345 is installed on the fixed platform 10 through the fixing seat 341, and the second bearing seat 346 is directly installed on the fixed platform 10, so that the first bearing seat 345 and the second bearing seat 346 At a distance, the first bearing housing 345 and the second bearing housing 346 are provided for the rocker arm shaft 343 to pass through, and the first bearing housing 345 and the second bearing housing 346 are located at the rotating portion 3311 of the rocker arm 331侧限位该臂臂331。 Side limit position rocker 331.

The clamping and rotating unit 35 is set on the movable platform 32 and moves with the movable platform 32. The clamping and rotating unit 35 includes a hollow rotating platform 351, a clamping base 352 and a second driving device 353. The hollow rotates The platform 351 is disposed on the side of the movable platform 32 close to the fixed platform 31, and the clip base 352 is disposed on the side of the movable platform 32 away from the fixed platform 31, and is linked to the hollow rotating platform 351 through the movable platform 32 In this embodiment, the second driving device 353 is a servo motor for driving the hollow rotating platform 351 to rotate the clamping base 352 in rotation.

When using, please refer to the seventh, eighth, ninth and tenth figures, fix the workpiece on the clamping base 351 of the clamping and rotating unit 35, and drive and rotate by the second driving device 353. Set on the main shaft 23, the main shaft 23 is driven to rotate at a fixed position, and the first drive device 342 of the three drive unit 34 is controlled by the pre-edited command to drive the rocker arm shaft 343 to rotate forward and reverse, so that the rocker arm of the three drive unit 34 The shaft 343 drives the rocker arm 331 of the three-link branch chain 33 to rotate forward and backward, and then the rocker arm 331 of the three-link branch chain 33 passes through the first pivot unit 333, the two connecting rods 332 and the second pivot synchronously or asynchronously The axis unit 334 is linked to the movable platform 32 and the clamping rotation unit 35. The workpiece fixed on the clamping seat 351 is moved and processed in the X-axis, Y-axis, and Z-axis three-dimensional space, which can easily achieve five-sided machining. 5000RPM or less), the power turret 24 on the second servo slide 22 can be used as a tool exchange. For high-speed tool processing, the spindle 23 on the first servo slide 21 can be used with the tool change mechanism on the pneumatic slide 25 26 Automatic tool change, a measuring device can be provided on the movable platform 32 for detecting the length of the tool, and a measuring device can also be provided on the spindle 23 for detecting the coordinates of the processed object.

Furthermore, as shown in the eleventh figure, this is the second embodiment of the compound parallel mechanism device of the present invention. The processing device 20 of this second embodiment includes a first servo slide 21, a spindle 23, and an air pressure A sliding table 25 and a tool changing mechanism 26, the first servo sliding table 21 is arranged on the machine table 10 along the X-axis direction, the main shaft 23 is a built-in electric main shaft in this embodiment, and the main shaft 23 is arranged on the On the first servo sliding table 21, the first servo sliding table 21 can drive the main shaft 23 to move in the X-axis direction. One end of the main shaft 23 is provided with a tool holder 231 for clamping a fixed tool and driving the tool to rotate. The pneumatic slide table 25 is installed on the machine table 10 along the Y-axis direction, the tool change mechanism 26 is provided on the pneumatic slide table 25, and the pneumatic tool slide mechanism 25 can drive the tool change mechanism 26 to move along the Y-axis direction .

As shown in the twelfth figure, this is the third embodiment of the compound parallel mechanism device of the present invention. The processing device 20 of the third embodiment includes a first servo slide 21 and two spindles 23, the first servo slide The table 21 is arranged on the machine table 10 along the X-axis direction. In this embodiment, the two main shafts 23 are built-in electric main shafts. The two main shafts 23 are arranged on the first servo slide 21, and the first The servo slide 21 drives the main shaft 23 to move in the X-axis direction. One end of the two main shafts 23 is respectively provided with a tool holder 231 for clamping and fixing the tool and driving the tool to rotate.

As shown in FIG. 13, it is the fourth embodiment of the compound parallel mechanism device of the present invention. The processing device 20 of the fourth embodiment includes a second servo slide 22, a main shaft 23, and a power turret 24 And a tool change mechanism 26, the second servo slide table 22 is arranged on the machine table 10 along the Y-axis direction, the spindle 23 is a built-in electric spindle in this embodiment, and the spindle 23 is arranged on the second servo On the sliding table 22, the second servo sliding table 22 can drive the main shaft 23 to move in the Y-axis direction. One end of the main shaft 23 is provided with a tool holder 231 for clamping a fixed tool, driving the tool to rotate, and the power tool The tower 24 is disposed on the second servo slide 22, and the second servo slide 22 can drive the power turret 24 to move in the Y-axis direction, and the tool change mechanism 26 is disposed on the machine 10.

As shown in FIG. 14, it is the fifth embodiment of the compound parallel mechanism device of the present invention. The processing device 20 of the fifth embodiment includes a second servo slide 22, two main shafts 23, and a power turret 24 The second servo slide table 22 is arranged on the machine table 10 along the Y-axis direction. The two spindles 23 are built-in electric spindles in this embodiment. The two spindles 23 are arranged on the second servo slide table 22 And the second servo slide 22 can drive the two main shafts 23 to move along the Y-axis direction. One end of the two main shafts 23 is respectively provided with a tool holder 231 for holding a fixed tool and driving the tool to rotate. The power turret 24 is disposed on the second servo slide table 22, and the second servo slide table 22 can drive the power turret 24 to move in the Y-axis direction.

As shown in the fifteenth figure, this is the sixth embodiment of the compound parallel mechanism device of the present invention. The processing device 20 of the sixth embodiment includes a first servo slide 21, a spindle 23, and a pneumatic slide 25 , A tool change mechanism 26 and a steering mechanism 27, the first servo slide 21 is provided on the steering mechanism 27, and can be freely switched between the X-axis direction and the Y-axis direction, the spindle 23 in this embodiment is Built-in electric spindle, the spindle 23 is set on the first servo slide 21, and can be driven by the second servo slide 22 displacement, one end of the spindle 23 is provided with a tool holder 231 for clamping fixed tools, The tool is driven to rotate, the air pressure slide 25 is disposed on the first servo slide 21, the tool change mechanism 26 is disposed on the air pressure slide 25, and the air pressure slide 25 can drive the tool change mechanism 26 to be displaced .

As shown in FIG. 16, this is the seventh embodiment of the compound parallel mechanism device of the present invention. The parallel mechanism 30 of the seventh embodiment is hanged upside down on the machine 10 with the movable platform 32 downward.

As shown in FIG. 17, this is the eighth embodiment of the compound parallel mechanism device of the present invention. The parallel mechanism 30 of the eighth embodiment is arranged on the machine 10 with the movable platform 32 facing upward.

As shown in FIG. 18, this is the ninth embodiment of the compound parallel mechanism device of the present invention. The parallel mechanism 30 of the ninth embodiment is provided on the machine 10 with the movable platform 32 facing one side.

From the structure of the above specific embodiment, the following benefits can be obtained:

1. The compound parallel mechanism device of the present invention has a complex structure, can be modularized, has high manufacturing and inventory costs, is easy to assemble and transport, greatly reduces the space occupied by the machine tool, and has a high structural rigidity, which is not easily deformed and damaged due to excessive load. .

2. The compound parallel mechanism device of the present invention has high processing speed and low inertia, there is no phenomenon of geometric error accumulation and amplification of the traditional machine tool, and it has a thermally symmetric structure design, so the thermal deformation is small and it has the advantages of high precision.

3. The compound parallel mechanism device of the present invention can be used to realize milling, boring, grinding and other processing, with high functionality and good flexibility, and there is no iron chips or cooling liquid entering the guide rail and causing scratches and wear Or corrosion phenomenon, long service life.

10‧‧‧Machine 20‧‧‧Processing device 21‧‧‧ First servo slide 22‧‧‧Second servo slide 23‧‧‧ Spindle 231‧‧‧Tool holder 24‧‧‧Power turret 25‧ ‧‧Air slide table 26‧‧‧Tool change mechanism 27‧‧‧ Steering mechanism 30‧‧‧Parallel mechanism 31‧‧‧ Fixed platform 32‧‧‧Mobile platform 321‧‧‧Pivot part 3211‧‧‧Pivot hole 33‧‧‧Linked branch chain 331‧‧‧Rocker arm 3311‧‧‧Rotating part 3312‧‧‧Pivot part 3313‧‧‧Rotating hole 3314‧‧‧Pivot hole 332‧‧‧Link rod 3321‧‧ ‧First pivot part 3322‧‧‧Second pivot part 333‧‧‧First pivot unit 3331‧‧‧First rocker arm pivot 3332‧‧‧First outer spacer ring 334‧‧‧Second pivot Unit 3341‧‧‧Second rocker shaft 3342‧‧‧Second outer spacer ring 34‧‧‧Drive unit 341‧‧‧Fixed seat 342‧‧‧First drive device 343‧‧‧Rocker arm shaft 344‧‧‧ Coupling 345‧‧‧First bearing seat 346‧‧‧Second bearing seat 35‧‧‧Clamp rotating unit 351‧‧‧Hollow rotary platform 352‧‧‧Clamp seat 353‧‧‧ Second drive device

The first figure is a perspective view of a first preferred embodiment of the present invention. The second figure is another perspective view of the first preferred embodiment of the present invention. The third figure is a plan view of the first preferred embodiment of the present invention. The fourth figure is another plan view of the first preferred embodiment of the present invention. The fifth figure is a perspective view of the parallel mechanism of the present invention. The sixth figure is an exploded perspective view of the parallel mechanism of the present invention. The seventh figure is the action schematic diagram (1) of the parallel mechanism of the present invention. The eighth figure is the action schematic diagram (2) of the parallel mechanism of the present invention. The ninth figure is the action schematic diagram (3) of the parallel mechanism of the present invention. The tenth figure is the action schematic diagram (4) of the parallel mechanism of the present invention. Figure 11 is a plan view of a second preferred embodiment of the present invention. Figure 12 is a plan view of a third preferred embodiment of the present invention. Figure 13 is a plan view of a fourth preferred embodiment of the present invention. Figure 14 is a plan view of a fifth preferred embodiment of the present invention. Figure 15 is a plan view of a sixth preferred embodiment of the present invention. Figure 16 is a perspective view of a seventh preferred embodiment of the present invention. Figure 17 is a perspective view of an eighth preferred embodiment of the present invention. Figure 18 is a perspective view of a ninth preferred embodiment of the present invention.

10‧‧‧machine

20‧‧‧Processing device

21‧‧‧First Servo Slide

22‧‧‧Second Servo Slide

23‧‧‧spindle

24‧‧‧Power Turret

25‧‧‧Air slide

26‧‧‧Tool changing mechanism

30‧‧‧Parallel mechanism

31‧‧‧Fixed platform

32‧‧‧Activity platform

33‧‧‧Linked branch chain

34‧‧‧Drive unit

35‧‧‧Clamping rotary unit

Claims (10)

A compound parallel mechanism equipment, including: a machine, the horizontal horizontal direction of the machine defines the X axis, the horizontal front and rear direction of the machine is defined as the Y axis, and the vertical vertical direction of the machine is defined as the Z axis; Device, the processing device is installed on the machine table, and includes at least one main shaft, one end of the main shaft is provided with a tool holder for clamping a fixed tool, and driving the tool to rotate; and a parallel mechanism, the parallel mechanism is installed On the machine table, corresponding to the processing device, the parallel mechanism includes a fixed platform, an active platform, a plurality of linked branches, a plurality of drive units, and a clamping and rotating unit. A complex pivoting portion is protruded from the periphery of the movable platform. Each of the plurality of linked supporting chains includes a rocker arm and two connecting rods. The rocker arm is provided with a rotating part at one end and a pivot part at the other end. The two connecting rods are arranged in parallel and a first pivot part is provided at one end. The other end is provided with a second pivoting part, the first pivoting part of the two connecting rods is pivotally connected to both sides of the pivot part of the rocker arm, and the second pivoting part of the two connecting rods is one of the movable flats A pivoting portion is pivotally connected on both sides, and the plurality of driving units are mounted on the fixed platform corresponding to the plurality of linkage branches, and are respectively connected to the pivot portions of the rocker arms of the plurality of linkage branches for driving the plurality The linked branch chain drives the movable platform to move in the three-dimensional space of X-axis, Y-axis and Z-axis. The clamping and rotating unit is set on the movable platform and moves with the movable platform. The clamping and rotating unit includes a hollow rotating platform And a clamp base, the hollow rotating platform is disposed on the side of the movable platform close to the fixed platform, the clamp base is disposed on the side of the movable platform away from the fixed platform, and is linked to the hollow rotating platform through the movable platform, and The holder can be rotated by a hollow rotating platform. The compound parallel mechanism device as described in item 1 of the patent application scope, wherein each pivot portion of the movable platform of the parallel mechanism is provided with a horizontally penetrating pivot hole, and the linkage branch of the parallel mechanism includes a rocker arm , Two connecting rods, a first pivot unit and a second pivot unit, the rocker arm is provided with a rotating part at one end and a pivot part at the other end, the rotating part is provided with a rotating hole, the pivot A pivot hole is provided in the part, a first pivot part is provided at one end of the two connecting rods, and a second pivot part is provided at the other end, the first pivot unit is disposed on the pivot part of the rocker arm, and Two sides of the pivot part are pivotally connected with the first pivot part of the two connecting rods, the second pivot unit is set on one of the pivot parts of the movable platform, and is connected with the two on both sides of the pivot part The second pivoting part of the lever is pivotally connected, so that the movable platform is suspended supported by the plurality of linked branch chains. The compound parallel mechanism device as described in item 2 of the patent application scope, wherein the first pivot unit of the linked branch chain has two first rocker shafts and a first outer spacer ring, and the first pivot unit is assembled At the pivot portion of the rocker arm, the two first rocker arm rotation shafts are combined with both sides of the pivot portion of the rocker arm, and part of the two first rocker arm rotation shafts are penetrated in the pivot holes of the pivot portion, the The first outer spacer ring is accommodated in the pivot hole of the pivot part, and is sleeved with the two first rocker arm rotating shafts. The two first rocker arm rotating shafts are on the two sides of the pivot part and the two connecting rods. A pivot part is pivotally connected, and the second pivot unit of the linked branch chain has two second rocker arm rotation shafts and a second outer spacer ring, the two second rocker arm rotation shafts are combined on both sides of the pivot part, and the two A part of the second rocker arm shaft passes through the pivot hole of the pivot part, the second outer spacer ring is accommodated in the pivot hole of the pivot part, and is sleeved with the two second rocker arm shafts, the The two second rocker arm pivots are pivotally connected to the second pivot parts of the two connecting rods on both sides of the pivot part. The compound parallel mechanism device as described in item 1 of the patent application scope, wherein the drive unit of the parallel mechanism includes a first drive device, a rocker shaft, a first bearing seat and a second bearing seat, the first The driving device is installed on the fixed platform, the rocker arm shaft is connected with the first driving device, driven by the first driving device to rotate forward and reverse, the rocker shaft penetrates the rotation of the rocker arm of the linked branch chain The combination of the movable holes makes the rocker arm shaft and the rocker arm interlock, the first bearing seat and the second bearing seat are installed on the fixed platform at a distance, for the rocker arm shaft to pass through, the first bearing The seat and the second bearing seat are located on both sides of the rotating part of the rocker arm to limit the rocker arm. The compound parallel mechanism device as described in item 4 of the patent application scope, wherein the drive unit further includes a fixed seat, and the first drive device and the first bearing seat are mounted on the fixed platform through the fixed seat. The compound parallel mechanism device described in item 4 of the patent application scope, wherein the drive unit further includes a coupling, and the rocker shaft is coupled to the first driving device through the coupling. The compound parallel mechanism device as described in item 4, 5 or 6 of the patent application scope, wherein the first driving device is a servo motor. The compound parallel mechanism device as described in item 1 of the patent application range, wherein the clamping and rotating unit further includes a second driving device, and the second driving device is used to drive the hollow rotating platform to rotate the clamping base in rotation. The compound parallel mechanism device as described in item 8 of the patent application scope, wherein the second driving device is a servo motor. The compound parallel mechanism device as described in item 1 of the patent application scope, wherein the processing device includes a first servo slide table, a second servo slide table, a main shaft, a power turret, a pneumatic slide table and a changer Knife mechanism, the first servo slide table is arranged on the machine table along the X axis direction, the second servo slide table is arranged on the machine table along the Y axis direction, the main shaft is a built-in electric main shaft, the main shaft It is installed on the first servo slide table, and the first servo slide table can drive the main shaft to move in the X-axis direction. One end of the main shaft is provided with a tool holder for holding a fixed tool and driving the tool to rotate. The power The turret is installed on the second servo slide table, and the power turret can be driven to move along the Y-axis direction by the second servo slide table. The pneumatic slide table is installed on the machine table along the Y-axis direction. The knife mechanism is arranged on the air pressure slide table, and the tool change mechanism can be driven to move along the Y-axis direction by the air pressure slide table.

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