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CN-121973158-A - Parallel mechanism with two-shift and two-turn motions

CN121973158ACN 121973158 ACN121973158 ACN 121973158ACN-121973158-A

Abstract

The invention discloses a parallel mechanism with two-movement and two-rotation movements, which comprises a base, wherein a two-dimensional translation module is arranged on the base, the two-dimensional translation module comprises a first driving component, a rack is arranged on the first driving component, a rotation module is arranged on the rack, the rotation module comprises a movement platform, the movement platform is respectively and rotatably connected with a first rotation frame and a second rotation frame, the first rotation frame is connected with a first shaft rotation driving module, and the second rotation frame is connected with a second shaft rotation driving module.

Inventors

  • LI DONGYANG
  • WANG BING
  • LI GUOWEI

Assignees

  • 廊坊市荣祥机电设备有限公司

Dates

Publication Date
20260505
Application Date
20260320

Claims (7)

  1. 1. The parallel mechanism with the two-movement and two-rotation movement is characterized by comprising a base (101), wherein a two-dimensional translation module which moves along the Z-axis and the Y-axis is installed on the base (101), the two-dimensional translation module comprises a first driving component (102) which is installed on the base (101) in a sliding mode, a frame (103) is installed on the first driving component (102), a rotation module which rotates along the X-axis and the Y-axis is installed on the frame (103), the rotation module comprises a movement platform (106), the movement platform (106) is respectively connected with a first rotation frame (107) and a second rotation frame (108) in a rotating mode, the first rotation frame (107) is connected with a first axis rotation driving module which drives the movement platform (106) to rotate along the X-axis, and the second rotation frame (108) is connected with a second axis rotation driving module which drives the movement platform (106) to rotate along the Y-axis.
  2. 2. The parallel mechanism with two-shift and two-turn motions as claimed in claim 1, wherein the motion platform (106) is of a T-shaped structure formed by a first shaft and a second shaft, one side of the first rotating frame (107) close to the motion platform (106) is of a U-shaped structure, two ends of the U-shaped structure on the first rotating frame (107) are respectively connected with a second shaft end arranged parallel to a Y-axis in a rotating way, and the second rotating frame (108) is connected with the first shaft end of the motion platform (106) arranged parallel to an X-axis in a rotating way.
  3. 3. The parallel mechanism with two-shift and two-turn motions of claim 1, wherein the first driving assembly (102) comprises a first slider (122) and a second slider (123) which are symmetrically arranged, a first connecting rod (124) and a second connecting rod (125) are hinged on the first slider (122), the top ends of the first connecting rod (124) and the second connecting rod (125) are hinged on a top frame (128), a third connecting rod (126) and a fourth connecting rod (127) are hinged on the second slider (123), the top ends of the third connecting rod (126) and the fourth connecting rod (127) are hinged on the top frame (128), the first slider (122) and the second slider (123) are slidably arranged on the base (101), and the first slider (122) and the second slider (123) are respectively connected with a first servo motor and a second servo motor.
  4. 4. The parallel mechanism with two-shift and two-turn motions according to claim 1, wherein the first shaft rotation driving module comprises a second driving assembly (109) which is slidably mounted on the base (101) along the Y-axis direction, the second driving assembly (109) has the same structure as the first driving assembly (102), a bracket (110) is arranged on the second driving assembly (109), the top of the bracket (110) is hinged with a first transmission frame (112) through a first hinge shaft (111), the other end of the first transmission frame (112) is hinged with a second transmission frame (113), the other end of the second transmission frame (113) is hinged with a first hinge seat (104) arranged on the frame (103), the second transmission frame (113) is connected with the first rotation frame (107), and the ends of the first transmission frame (112) and the second transmission frame (113) are respectively rotated along the X-axis direction.
  5. 5. The parallel mechanism with two-shift and two-turn motion as claimed in claim 1, wherein the second shaft rotation driving module comprises an intermediate platform (114) capable of moving up and down, the intermediate platform (114) is hinged with a third transmission frame (116) through a second hinge shaft (115), the other end of the third transmission frame (116) is hinged with the upper part of a fourth transmission frame (117), the middle part of the fourth transmission frame (117) is hinged with a second hinge seat (105) arranged on the frame (103), the lower part of the fourth transmission frame (117) is hinged with a second rotating frame (108), and the end part of the third transmission frame (116) and the upper part and the lower part of the fourth transmission frame (117) are respectively rotated along the Y-axis direction.
  6. 6. The parallel mechanism with two-shift and two-turn motions as claimed in claim 4, wherein the middle platform (114) is L-shaped, one end of the middle platform (114) is connected with a third driving assembly (118) through a first plane connecting rod assembly (119), the other end of the middle platform is connected with a fourth driving assembly (120) through a second plane connecting rod assembly (121), the third driving assembly (118) is slidably arranged on the base (101) along the X-axis direction, the fourth driving assembly (120) is slidably arranged on the base (101) along the Y-axis direction, and the third driving assembly (118) and the fourth driving assembly (120) are identical in structure with the first driving assembly (102).
  7. 7. The parallel mechanism with two-shift and two-turn motions as set forth in claim 5, wherein the first plane connecting rod assembly (119) comprises a third hinge seat (129) arranged on the third driving assembly (118), a fifth connecting rod (130) and a sixth connecting rod (131) are hinged on the third hinge seat (129), the other ends of the fifth connecting rod (130) and the sixth connecting rod (131) are hinged with the middle platform (114), the fifth connecting rod (130) and the sixth connecting rod (131) are equal in length and are arranged in parallel, and the second plane connecting rod assembly (121) and the first plane connecting rod assembly (119) are identical in structure.

Description

Parallel mechanism with two-shift and two-turn motions Technical Field The invention relates to a parallel mechanism, in particular to a parallel mechanism with two-shift and two-turn motions. Background Parallel mechanisms refer to mechanisms that are connected by two or more branches, have two or more degrees of freedom, and are driven in parallel. The parallel mechanism realizes the motion output of the tail end through the synergistic effect of a plurality of motion branched chains, and has the structural characteristic of multiple closed loops. Compared with the traditional series mechanism, the parallel mechanism has the advantages of compact structure, high rigidity, quick dynamic response and the like, and has been greatly successful in the fields of automatic production lines, advanced manufacturing equipment, biomedical devices, aerospace motion simulation and the like. Although the parallel mechanism has the characteristic of a multi-branched closed loop structure, the structural defect that the parallel mechanism is difficult to solve is also generated, geometric interference is easy to generate between a motion platform and a motion branched chain and between the motion branched chain and the motion branched chain in the parallel mechanism, the position and the gesture working space of the parallel mechanism are seriously reduced, and most of working task demands cannot be met. Particularly, in the rotation process of a motion platform of the parallel mechanism, the interference between the motion branched chain and the motion platform and between the motion branched chain and the motion branched chain is more serious than the pure translational motion condition, and compared with the position working space, the gesture working space of the parallel mechanism is generally smaller, and the structural design of a large gesture corner is difficult to realize. Disclosure of Invention The invention aims to solve the technical problem of providing a parallel mechanism with two-shift and two-turn motions, which can solve the problem that the parallel mechanism in the background art has geometric interference and is difficult to realize large-attitude corner, so that the parallel mechanism has high rotation capability. In order to solve the technical problems, the technical scheme adopted by the invention is as follows. The parallel mechanism with the two-movement and two-rotation movements comprises a base, wherein a two-dimensional translation module which moves along the Z axis and the Y axis is arranged on the base, the two-dimensional translation module comprises a first driving component which is slidably arranged on the base, a frame is arranged on the first driving component, a rotation module which rotates along the X axis and the Y axis is arranged on the frame, the rotation module comprises a movement platform, the movement platform is respectively and rotatably connected with a first rotation frame and a second rotation frame, the first rotation frame is connected with a first rotation driving module which drives the movement platform to rotate along the X axis, and the second rotation frame is connected with a second rotation driving module which drives the movement platform to rotate along the Y axis. The parallel mechanism with the two-shift and two-rotation motions is characterized in that the motion platform is of a T-shaped structure formed by a first shaft and a second shaft, one side of the first rotating frame, which is close to the motion platform, is of a U-shaped structure, two ends of the U-shaped structure on the first rotating frame are respectively connected with the shaft ends of the second shaft, which are parallel to the Y shaft, in a rotating manner, and the second rotating frame is connected with the shaft ends of the first shaft, which are parallel to the X shaft, on the motion platform in a rotating manner. The first driving assembly comprises a first sliding block and a second sliding block which are symmetrically arranged, the first sliding block is hinged with a first connecting rod and a second connecting rod, the top ends of the first connecting rod and the second connecting rod are hinged to a top frame, the second sliding block is hinged with a third connecting rod and a fourth connecting rod, the top ends of the third connecting rod and the fourth connecting rod are hinged to the top frame, the first sliding block and the second sliding block are arranged on a base in a sliding mode, and the first sliding block and the second sliding block are respectively connected with a first servo motor and a second servo motor. The first shaft rotary driving module comprises a second driving assembly which is slidably mounted on the base along the Y-axis direction, the second driving assembly is identical to the first driving assembly in structure, a support is arranged on the second driving assembly, the top of the support is hinged with the first transmission frame thro