CN115056204A - Five-degree-of-freedom parallel mechanism containing orthogonal three-straight-line composite driving branched chain - Google Patents
Five-degree-of-freedom parallel mechanism containing orthogonal three-straight-line composite driving branched chain Download PDFInfo
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- CN115056204A CN115056204A CN202210833433.XA CN202210833433A CN115056204A CN 115056204 A CN115056204 A CN 115056204A CN 202210833433 A CN202210833433 A CN 202210833433A CN 115056204 A CN115056204 A CN 115056204A
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention discloses a five-degree-of-freedom parallel mechanism containing orthogonal three-linear compound driving branched chains, which comprises a fixed platform, a movable platform, a first branched chain, a second branched chain and a third branched chain, wherein the fixed platform comprises a base and a first hinge seat, the movable platform comprises a bedplate, a first spherical hinge base, a second hinge seat and two spherical hinge support mounting surfaces with the same structure, the first branched chain and the second branched chain have the same structure, and the third branched chain is arranged at the rear side of the fixed platform. The advantages are that: the configuration of driving the branched chains in an orthogonal three-straight-line composite manner is adopted, so that the sufficient degree of freedom is ensured, the number of the branched chains and the interference among the branched chains are reduced, and the working space and the stability of the branched chains are enlarged; five degrees of freedom of three-translation and two-rotation are realized by matching three mutually orthogonal linear driving branched chains with the other two simple branched chains, and the flexibility is high; three orthogonal linear driving assemblies in the branched chain are similar to the linear moving assembly in structure, so that the manufacturing difficulty and the manufacturing cost are reduced.
Description
Technical Field
The invention belongs to the technical field of parallel mechanisms, and particularly relates to a five-degree-of-freedom parallel mechanism containing an orthogonal three-linear composite driving branched chain.
Background
The parallel mechanism is a multi-degree-of-freedom mechanism which comprises a plurality of parallel moving branched chains between a movable platform and a fixed platform. The parallel mechanism has been widely used in the fields of motion simulators, parallel manipulators, touch devices, numerical control machining centers, medical robots, remote control operation devices and the like because of the advantages of strong bearing capacity, large rigidity, stable structure, high motion speed, less error superposition, high motion precision, simple control and the like.
The configuration mode of the compound driving branched chain is applied to the parallel mechanism, the number of the branched chains can be effectively reduced, the integral structure is simplified, the interference among the branched chains is reduced, the working space is enlarged and the like, two or more branched chains are connected through the compound driving branched chain, the bearing capacity of the mechanism can be improved to a certain extent, and therefore the rigidity of the mechanism is increased. Particularly, the parallel mechanism of the orthogonal three-straight-line composite driving branched chain not only can have larger movement working space, but also can obviously improve the movement performance of the mechanism, and has wide application prospect.
Disclosure of Invention
The invention aims to provide a five-degree-of-freedom parallel mechanism containing orthogonal three-straight-line compound driving branched chains, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the five-degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform, a first branched chain, a second branched chain and a third branched chain, wherein the fixed platform comprises a base and two first hinge seats, the two first hinge seats are symmetrically and fixedly arranged on the left side and the right side of the upper surface of the base, the movable platform is arranged above the fixed platform and comprises a bedplate, two first spherical hinge bases, a second hinge seat and two spherical hinge support mounting surfaces, the first branched chain and the second branched chain are identical in structure and are symmetrically arranged on the left side and the right side of the front side of the fixed platform respectively, the first branched chain comprises a connecting rod assembly, a first motor and a third hinge seat, the connecting rod assembly comprises a spherical hinge and an electric cylinder, the third branched chain is arranged on the rear side of the fixed platform, and the third branched chain comprises two first movable assemblies, two first linear driving assemblies, Two second remove subassembly, two second straight line drive assembly, third removal subassembly, third straight line drive assembly and first link assembly, the third remove the subassembly third straight line drive assembly sets up the second removal subassembly front portion at two relative distributions, first link assembly sets up the expansion end in the third removal subassembly, first link assembly includes immovable telescopic link, fourth hinge seat, first fixed block and second fixed block, first fixed block with the fixed combination setting of stack is at the lower extreme of immovable telescopic link around the second fixed block, the fixed expansion end that sets up at the third removal subassembly of rear end face of second fixed block, the upper end of fourth hinge seat sets up through the activity of second hinge seat on spider and the movable platform and forms first tiger's gram hinge.
Preferably, one second hinge seat is arranged at the rear side of the lower surface of the bedplate, the two spherical hinge support mounting surfaces are symmetrically arranged at the left and right positions of the front side of the lower surface of the bedplate, and the two first spherical hinge bases are respectively and fixedly arranged on the corresponding spherical hinge support mounting surfaces.
Preferably, the front end of the electric cylinder is connected with a spherical hinge, the spherical hinge is movably arranged with a first spherical hinge base to form a first spherical pair, the first motor is arranged at the rear end of the electric cylinder, the third hinge base is arranged at the end part where the first motor and the electric cylinder are connected, the lower end of the third hinge base is movably arranged with a first hinge base on the base through a cross shaft to form a second hook hinge with the same structure, and two rotation axes of the second hook hinge are orthogonal to each other.
Preferably, the two first moving assemblies, the two first linear driving assemblies, the two second moving assemblies and the two second linear driving assemblies are symmetrically and fixedly arranged on the left side and the right side of the fixed platform.
Preferably, first removal subassembly includes first preceding fixed plate, first after-fixing board, first bottom plate, first slider, first L type fixed block and two first linear guide rails, the fixed upper surface that sets up at fixed platform in bottom surface of first bottom plate, two first linear guide rails are fixed the left and right sides that sets up at first bottom plate up end side by side along the fore-and-aft direction, first slider activity sets up the up end at two first linear guide rails, the fixed rear end that sets up at two first linear guide rails of first L type fixed block, just the fixed upper surface that sets up at first bottom plate of first L type fixed block, first preceding fixed plate and first after-fixing board parallel relative setting are respectively at the front and back end of first bottom plate.
Preferably, the first linear driving assembly includes a second motor, the second motor is fixedly disposed on the rear end surface of the first rear fixing plate, an output shaft of the second motor is provided with a first lead screw through a coupler, and the first lead screw is longitudinally and horizontally disposed between the first front fixing plate and the first rear fixing plate in a penetrating manner and is disposed in cooperation with the first slider.
Preferably, the second removes the subassembly and includes second front fixed plate, second after-fixing board, second bottom plate, second slider, second L type fixed block, two second linear guide and first L type angle steel, the fixed terminal surface that sets up at first slider of first L type angle steel, the second bottom plate is fixed to be set up at first L type angle steel front surface, two second linear guide is along the fixed terminal surface that sets up in second bottom plate before upper and lower direction side by side, the second slider activity sets up the terminal surface at two second linear guide, the fixed upper end that sets up at two second linear guide of second L type fixed block, just the fixed front surface that sets up at the second bottom plate of second L type fixed block, second front fixed plate with second after-fixing board parallel relative setting is respectively at the upper and lower extreme of second bottom plate.
Preferably, the second linear driving assembly includes a third motor, the third motor is fixedly disposed on the upper end surface of the second rear fixing plate, an output shaft of the third motor is provided with a second lead screw through a coupler, and the second lead screw vertically penetrates through between the second front fixing plate and the second rear fixing plate and is disposed in cooperation with the second slider.
Preferably, the third removes the subassembly and includes third L type fixed block, two third linear guide, third slider, third bottom plate, third front fixed plate and third after-fixing board, the fixed upper surface that sets up at two second sliders of lower extreme of third bottom plate, the third front fixed plate with third after-fixing board sets up the left and right sides at the third bottom plate respectively relatively, two third linear guide is along the upper and lower both sides of left and right sides fixed setting terminal surface before the third bottom plate side by side, two the activity of third linear guide upper end is provided with the third slider, the fixed right-hand member that sets up at two third linear guide of third L type fixed block, just the fixed front surface that sets up at the third bottom plate of third L type fixed block.
Preferably, the third linear driving assembly includes a fourth motor, the fourth motor is fixedly disposed on the right end surface of the third rear fixing plate, an output shaft of the fourth motor is provided with a third lead screw through a coupler, and the third lead screw is horizontally and transversely disposed between the third front fixing plate and the third rear fixing plate and is matched with the third slider.
Compared with the prior art, the invention has the beneficial effects that:
1. the configuration mode of driving the branched chains in an orthogonal three-straight-line composite manner is adopted, so that the sufficient degree of freedom is ensured, the number of the branched chains and the mutual interference are reduced, and the working space of the mechanism is enlarged;
2. three mutually orthogonal linear driving branched chains are matched with the other two simple branched chains, so that five degrees of freedom including two rotation and three translation are realized, the flexibility is high, and the stability is strong;
3. the linear moving assembly and the linear driving assembly in the orthogonal three-linear compound driving branched chain are similar in structure, and the other two simple branched chains are completely the same, so that the manufacturing and processing difficulty and the manufacturing cost are reduced.
Drawings
FIG. 1 is a schematic diagram of a five-degree-of-freedom parallel mechanism including an orthogonal three-linear compound driving branched chain according to the present invention;
FIG. 2 is a schematic diagram of a moving platform structure of a five-degree-of-freedom parallel mechanism with orthogonal three-linear compound driving branched chains according to the present invention;
FIG. 3 is a schematic diagram of a fixed platform structure of a five-degree-of-freedom parallel mechanism with orthogonal three-linear compound driving branched chains, according to the present invention;
FIG. 4 is a schematic diagram of a first branched chain and a second branched chain in a five-degree-of-freedom parallel mechanism with orthogonal three-linear compound driving branched chains according to the present invention;
FIG. 5 is a schematic diagram of a first link assembly in a third branched chain of a five-degree-of-freedom parallel mechanism with orthogonal three-linear compound driving branched chains according to the present invention;
FIG. 6 is a schematic diagram of a cross shaft in a five-degree-of-freedom parallel mechanism with orthogonal three-linear compound driving branched chains according to the present invention;
fig. 7 is a schematic structural diagram of a first moving assembly, a first linear driving assembly, a second moving assembly and a second linear driving assembly in a third branched chain according to the present invention;
FIG. 8 is a schematic structural diagram of a third moving assembly and a third linear driving assembly in a third branched chain according to the present invention;
fig. 9 is a schematic diagram of a third branched chain in a five-degree-of-freedom parallel mechanism including an orthogonal three-linear compound driving branched chain according to the present invention.
In the figure: 1. fixing a platform; 101. a base; 2. a movable platform; 201. a platen; 202. a spherical hinge support mounting surface; 203. a second hinge base; i, a first branched chain; II, a second branched chain; III, a third branch chain; 3. a first hinge base; 301. a second hook joint; 4. a third moving assembly; 401. a third L-shaped fixed block; 402. a third linear guide rail; 403. a third base plate; 404. a third slider; 405. a third front fixing plate; 406. a third rear fixing plate; 5. a connecting rod assembly; 501. an electric cylinder; 6. a first linear drive assembly; 7. a first moving assembly; 701. a first front fixing plate; 702. a first rear fixing plate; 703. a first base plate; 704. a first slider; 705. a first L-shaped fixed block; 706. a first linear guide rail; 8. a second linear drive assembly; 9. a second moving assembly; 901. a second front fixing plate; 902. a second rear fixing plate; 903. a second base plate; 904. a second slider; 905. a second L-shaped fixing block; 906. a second linear guide; 10. a first hook joint; 11. a second fixed block; 12. a first fixed block; 14. spherical hinge; 15. a third linear drive assembly; 16. an immovable telescopic rod; 17. a second motor; 18. a second lead screw; 19. a third lead screw; 20. a fourth motor; 22. a first spherical hinge base; 23. a fourth hinge base; 25. a first motor; 26. a first ball pair; 27. a third hinge mount; 28. a first link assembly; 29. a first lead screw; 30. a first L-shaped angle steel; 32. a third motor; 33. a cross shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-9, the present invention provides a technical solution: a five-degree-of-freedom parallel mechanism containing orthogonal three-linear compound driving branched chains comprises a fixed platform 1, a movable platform 2, a first branched chain I, a second branched chain II and a third branched chain III, wherein the fixed platform 1 comprises a base 101 and two first hinge seats 3, the two first hinge seats 3 are symmetrically and fixedly arranged on the left side and the right side of the upper surface of the base 101 through screws, the movable platform 2 is arranged above the fixed platform 1, the movable platform 2 comprises a bedplate 201, two first spherical hinge bases 22, a second hinge seat 203 and two spherical hinge support mounting surfaces 202, the first branched chain I and the second branched chain II are identical in structure and are symmetrically arranged on the left side and the right side of the front side of the fixed platform 1 respectively, the first branched chain I comprises a connecting rod assembly 5, a first motor 25 and a third hinge seat 27, the connecting rod assembly 5 comprises a spherical hinge 14 and an electric cylinder 501, the third branched chain III is arranged on the rear side of the fixed platform 1, and the third branched chain III comprises two first moving assemblies 7, Two first linear drive assemblies 6, two second moving assemblies 9, two second linear drive assemblies 8, a third moving assembly 4, a third linear drive assembly 15 and a first link assembly 28, the third moving assembly 4 and the third linear driving assembly 15 are installed in front of the two second moving assemblies 9 which are distributed oppositely, the first link assembly 28 is installed at the movable end of the third moving assembly 4, the first link assembly 28 comprises an immovable telescopic rod 16, a fourth hinge seat 23, a first fixed block 12 and a second fixed block 11, the first fixed block 12 and the second fixed block 11 are installed at the lower end of the immovable telescopic rod 16 in a front-and-back overlapping, welding and fixing combination mode, the rear end face of the second fixed block 11 is fixedly installed at the movable end of the third moving assembly 4 in a welding mode, and the upper end of the fourth hinge seat 23 is rotatably connected with the second hinge seat 203 on the moving platform 2 through a cross shaft 33 to form a first hooke joint 10.
A second hinge seat 203 is mounted at the rear side of the lower surface of the bedplate 201 by screws, two spherical hinge support mounting surfaces 202 are symmetrically mounted at the left and right parts of the front side of the lower surface of the bedplate 201, and two first spherical hinge bases 22 are respectively mounted on the corresponding spherical hinge support mounting surfaces 202 by screws.
The front end of the electric cylinder 501 is connected with the spherical hinge 14 in an installing mode, the spherical hinge 14 is connected with a first spherical hinge base 22 in a rotating mode to form a first spherical pair 26, the first motor 25 is installed at the rear end of the electric cylinder 501, the third hinge seat 27 is installed at the end portion, connected with the first motor 25 and the electric cylinder 501, of the welded mode, the lower end of the third hinge seat 27 is connected with a first hinge seat 3 on the base 101 in a rotating mode through the cross shaft 33 to form a second Hooke hinge 301 of the same structure, and two rotating axes of the second Hooke hinge 301 are orthogonal to each other.
Two first removal subassemblies 7, two first linear drive subassemblies 6, two second remove subassembly 9, two second linear drive subassemblies 8 equal symmetrical screw fixed mounting in the left and right sides of deciding platform 1.
The first moving assembly 7 comprises a first front fixing plate 701, a first rear fixing plate 702, a first bottom plate 703, a first slider 704, a first L-shaped fixing block 705 and two first linear guide rails 706, the bottom surface of the first bottom plate 703 is fixedly welded to the upper surface of the fixed platform 1, the two first linear guide rails 706 are fixedly mounted on the left side and the right side of the upper end surface of the first bottom plate 703 in parallel by screws in the front-rear direction, the first slider 704 is slidably mounted on the upper end surfaces of the two first linear guide rails 706, the first L-shaped fixing block 705 is fixedly welded to the rear ends of the two first linear guide rails 706, the first L-shaped fixing block 705 is fixedly welded to the upper surface of the first bottom plate 703, and the first front fixing plate 701 and the first rear fixing plate 702 are respectively and oppositely mounted on the front end and the rear end of the first bottom plate 703 in parallel.
The first linear driving assembly 6 comprises a second motor 17, the second motor 17 is fixedly installed on the rear end face of the first rear fixing plate 702, an output shaft of the second motor 17 is connected with a first lead screw 29 through a coupler, and the first lead screw 29 is longitudinally and horizontally installed between the first front fixing plate 701 and the first rear fixing plate 702 in a penetrating mode and is in threaded fit connection with the first sliding block 704.
The second moving assembly 9 includes a second front fixing plate 901, a second rear fixing plate 902, a second bottom plate 903, a second slider 904, a second L-shaped fixing block 905, two second linear guide rails 906 and a first L-shaped angle iron 30, the first L-shaped angle iron 30 is fixedly welded on the end surface of the first slider 704, the second bottom plate 903 is fixedly welded on the front surface of the first L-shaped angle iron 30, the two second linear guide rails 906 are welded on the front end surface of the second bottom plate 903 in parallel in the up-down direction, the second slider 904 is slidably mounted on the end surfaces of the two second linear guide rails 906, the second L-shaped fixing block 905 is fixedly welded on the upper ends of the two second linear guide rails 906, the second L-shaped fixing block 905 is welded on the front surface of the second bottom plate 903, and the second front fixing plate 901 and the second rear fixing plate 902 are respectively and oppositely mounted on the upper and lower ends of the second bottom plate 903 in parallel.
The second linear driving assembly 8 comprises a third motor 32, the third motor 32 is fixedly mounted on the upper end surface of the second rear fixing plate 902, an output shaft of the third motor 32 is connected with a second lead screw 18 through a coupler, and the second lead screw 18 vertically penetrates through the second front fixing plate 901 and the second rear fixing plate 902 and is connected with the second slider 904 in a threaded fit manner.
The third moving assembly 4 includes a third L-shaped fixing block 401, two third linear guide rails 402, a third slider 404, a third bottom plate 403, a third front fixing plate 405 and a third rear fixing plate 406, the lower end of the third bottom plate 403 is welded to the upper surfaces of the two second sliders 904, the third front fixing plate 405 and the third rear fixing plate 406 are respectively installed on the left and right sides of the third bottom plate 403, the two third linear guide rails 402 are welded to the upper and lower sides of the front end surface of the third bottom plate 403 in parallel in the left-right direction, the third slider 404 is slidably installed on the upper ends of the two third linear guide rails 402, the third L-shaped fixing block 401 is welded to the right ends of the two third linear guide rails 402, and the third L-shaped fixing block 401 is welded to the front surface of the third bottom plate 403.
The third linear driving assembly 15 includes a fourth motor 20, the fourth motor 20 is fixedly installed on the right end face of the third rear fixing plate 406, an output shaft of the fourth motor 20 is connected with a third lead screw 19 through a coupler, and the third lead screw 19 is horizontally and transversely installed between the third front fixing plate 405 and the third rear fixing plate 406, and is in threaded fit connection with the third slider 404.
The working principle is as follows: when in use, two electric cylinders 501 with the same structure are selected, and a first lead screw 29, a second lead screw 18 and a third lead screw 19 are used as driving pairs, so that five degrees of freedom of the movable platform 2 can be realized, the immovable telescopic rod 16, a second motor 17, a third motor 32 and a fourth motor 20 on the third branch chain III are locked, the electric cylinders 501 on the first branch chain I and the electric cylinders 501 on the second branch chain II are driven by the first motor 25 to reversely and equidistantly extend, the rotational degree of freedom of the movable platform 2 around the y axis can be realized, the first lead screw 29 and the third lead screw 19 on the third branch chain III are locked, the third motor 32 on the third branch chain III is driven to drive the lead screw and the second lead screw 18 to rotate, the rotational degree of freedom of the movable platform 2 around the x axis can be realized, the fourth motor 20 on the third branch chain III is driven to drive the third lead screw 19 to rotate, and correspondingly, the two electric cylinders 501 with the same structure on the first branch chain I and the second branch chain II are driven to extend and extend by the first motor 25, the rest driving parts are locked, the translational freedom degree of the movable platform 2 along the x axis can be realized, the second motor 17 on the third branch chain III is used for driving the first lead screw 29 to rotate, the two electric cylinders 501 with the same structure on the first branch chain I and the second branch chain II are correspondingly used for stretching under the driving of the first motor 25, the rest driving parts are locked, the translational freedom degree of the movable platform 2 along the y axis can be realized, the third motor 32 on the third branch chain III is used for driving the second lead screw 18 to rotate, the two electric cylinders 501 with the same structure on the first branch chain I and the second branch chain II are correspondingly used for stretching under the driving of the first motor 25, the rest driving parts are locked, and the translational freedom degree of the movable platform 2 along the z axis can be realized. Finally, the movable platform 2 can realize five degrees of freedom including the freedom of movement in three directions and the freedom of rotation around the x and y axes.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a five degree of freedom parallel mechanism that contain three straight line composite drive branched chains of quadrature, includes fixed platform (1), moves platform (2), first branched chain (I), second branched chain (II), third branched chain (III), its characterized in that: the fixed platform (1) comprises a base (101) and two first hinge seats (3), the two first hinge seats (3) are symmetrically and fixedly arranged on the left side and the right side of the upper surface of the base (101), the movable platform (2) is arranged above the fixed platform (1), the movable platform (2) comprises a bedplate (201), two first spherical hinge bases (22), a second hinge seat (203) and two spherical hinge support mounting surfaces (202), the first branched chain (I) and the second branched chain (II) are identical in structure and are symmetrically arranged on the left side and the right side of the front side of the fixed platform (1) respectively, the first branched chain (I) comprises a connecting rod assembly (5), a first motor (25) and a third hinge seat (27), the connecting rod assembly (5) comprises a spherical hinge (14) and an electric cylinder (501), the third branched chain (III) is arranged on the rear side of the fixed platform (1), the third branched chain (III) comprises two first moving assemblies (7), two first linear driving assemblies (6), two second moving assemblies (9), two second linear driving assemblies (8), a third moving assembly (4), a third linear driving assembly (15) and a first connecting rod assembly (28), the third moving assembly (4) and the third linear driving assembly (15) are arranged at the front parts of the two second moving assemblies (9) which are distributed oppositely, the first connecting rod assembly (28) is arranged at the movable end of the third moving assembly (4), the first connecting rod assembly (28) comprises an immovable telescopic rod (16), a fourth hinge seat (23), a first fixed block (12) and a second fixed block (11), the first fixed block (12) and the second fixed block (11) are fixedly combined in a front-back overlapping mode and are arranged at the lower end of the immovable telescopic rod (16), the rear end face of the second fixing block (11) is fixedly arranged at the movable end of the third moving assembly (4), and the upper end of the fourth hinge seat (23) is movably arranged with a second hinge seat (203) on the moving platform (2) through a cross shaft (33) to form a first hook hinge (10).
2. The five-degree-of-freedom parallel mechanism with the orthogonal three-linear compound driving branched chain as claimed in claim 1, is characterized in that: the second hinge seat (203) is arranged at the rear side of the lower surface of the bedplate (201), the two spherical hinge support mounting surfaces (202) are symmetrically arranged at the left and right parts of the front side of the lower surface of the bedplate (201), and the two first spherical hinge bases (22) are respectively and fixedly arranged on the corresponding spherical hinge support mounting surfaces (202).
3. The five-degree-of-freedom parallel mechanism with the orthogonal three-linear compound driving branched chain as claimed in claim 1, is characterized in that: the electric cylinder (501) front end sets up with ball pivot (14) to be connected, ball pivot (14) and a first ball pivot base (22) activity set up and form first ball pair (26), first motor (25) set up the rear end in electric cylinder (501), third hinge seat (27) set up first motor (25) with the tip that electric cylinder (501) meet, the lower extreme of third hinge seat (27) sets up through cross axle (33) and a first hinge seat (3) activity on base (101) and forms second hooke's hinge (301) of the same structure, just two rotation axis mutual quadrature of second hooke's hinge (301).
4. The five-degree-of-freedom parallel mechanism with the orthogonal three-linear compound driving branched chain as claimed in claim 1, is characterized in that: the two first moving assemblies (7), the two first linear driving assemblies (6), the two second moving assemblies (9) and the two second linear driving assemblies (8) are symmetrically and fixedly arranged on the left side and the right side of the fixed platform (1).
5. The five-degree-of-freedom parallel mechanism with the orthogonal three-linear compound driving branched chain as claimed in claim 1, is characterized in that: the first moving assembly (7) comprises a first front fixing plate (701), a first rear fixing plate (702), a first bottom plate (703), a first sliding block (704), a first L-shaped fixing block (705) and two first linear guide rails (706), the bottom surface of the first bottom plate (703) is fixedly arranged on the upper surface of the fixed platform (1), the two first linear guide rails (706) are fixedly arranged on the left side and the right side of the upper end surface of the first bottom plate (703) in parallel along the front-back direction, the first sliding block (704) is movably arranged on the upper end surfaces of the two first linear guide rails (706), the first L-shaped fixed block (705) is fixedly arranged at the rear ends of the two first linear guide rails (706), and the first L-shaped fixed block (705) is fixedly arranged on the upper surface of the first bottom plate (703), the first front fixing plate (701) and the first rear fixing plate (702) are respectively arranged at the front end and the rear end of the first bottom plate (703) in parallel and oppositely.
6. The five-degree-of-freedom parallel mechanism with the orthogonal three-linear compound driving branched chain as claimed in claim 5, is characterized in that: the first linear driving assembly (6) comprises a second motor (17), the second motor (17) is fixedly arranged on the rear end face of the first rear fixing plate (702), an output shaft of the second motor (17) is provided with a first lead screw (29) through a coupler, and the first lead screw (29) longitudinally and horizontally penetrates between the first front fixing plate (701) and the first rear fixing plate (702) and is matched with the first sliding block (704).
7. The five-degree-of-freedom parallel mechanism with the orthogonal three-linear compound driving branched chain as claimed in claim 5, is characterized in that: the second moving assembly (9) comprises a second front fixing plate (901), a second rear fixing plate (902), a second bottom plate (903), a second sliding block (904), a second L-shaped fixing block (905), two second linear guide rails (906) and first L-shaped angle steel (30), the first L-shaped angle steel (30) is fixedly arranged on the end surface of the first sliding block (704), the second bottom plate (903) is fixedly arranged on the front surface of the first L-shaped angle steel (30), the two second linear guide rails (906) are fixedly arranged on the front end surface of the second bottom plate (903) in parallel along the vertical direction, the second sliding block (904) is movably arranged on the end surfaces of the two second linear guide rails (906), the second L-shaped fixing block (905) is fixedly arranged at the upper ends of the two second linear guide rails (906), and the second L-shaped fixing block (905) is fixedly arranged on the front surface of the second bottom plate (903), the second front fixing plate (901) and the second rear fixing plate (902) are respectively arranged at the upper end and the lower end of the second bottom plate (903) in parallel and oppositely.
8. The five-degree-of-freedom parallel mechanism with the orthogonal three-linear compound driving branched chain as claimed in claim 7, is characterized in that: the second linear driving assembly (8) comprises a third motor (32), the third motor (32) is fixedly arranged on the upper end face of the second rear fixing plate (902), an output shaft of the third motor (32) is provided with a second lead screw (18) through a coupler, and the second lead screw (18) vertically penetrates through the second front fixing plate (901) and the second rear fixing plate (902) and is matched with the second sliding block (904).
9. The five-degree-of-freedom parallel mechanism with the orthogonal three-linear compound driving branched chain as claimed in claim 7, is characterized in that: the third moving assembly (4) comprises a third L-shaped fixed block (401), two third linear guide rails (402), a third sliding block (404), a third bottom plate (403), a third front fixed plate (405) and a third rear fixed plate (406), the lower end of the third bottom plate (403) is fixedly arranged on the upper surfaces of the two second sliding blocks (904), the third front fixing plate (405) and the third rear fixing plate (406) are respectively arranged at the left side and the right side of the third bottom plate (403) oppositely, the two third linear guide rails (402) are fixedly arranged at the upper side and the lower side of the front end surface of the third bottom plate (403) in parallel along the left-right direction, the upper ends of the two third linear guide rails (402) are movably provided with third sliding blocks (404), the third L-shaped fixed block (401) is fixedly arranged at the right ends of the two third linear guide rails (402), and the third L-shaped fixing block (401) is fixedly arranged on the front surface of the third bottom plate (403).
10. The five-degree-of-freedom parallel mechanism with the orthogonal three-linear compound driving branched chain as claimed in claim 9, is characterized in that: the third linear driving assembly (15) comprises a fourth motor (20), the fourth motor (20) is fixedly arranged on the right end face of the third rear fixing plate (406), an output shaft of the fourth motor (20) is provided with a third lead screw (19) through a coupler, and the third lead screw (19) is horizontally and transversely arranged between the third front fixing plate (405) and the third rear fixing plate (406) and is matched with the third sliding block (404).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210833433.XA CN115056204A (en) | 2022-07-15 | 2022-07-15 | Five-degree-of-freedom parallel mechanism containing orthogonal three-straight-line composite driving branched chain |
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| CN202210833433.XA CN115056204A (en) | 2022-07-15 | 2022-07-15 | Five-degree-of-freedom parallel mechanism containing orthogonal three-straight-line composite driving branched chain |
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