WO2019011020A1 - Parallel mechanism having two degrees of planar movement freedom - Google Patents

Abstract

Disclosed is a parallel mechanism (100) having two degrees of planar movement freedom. The mechanism comprises: a drive assembly (1), the drive assembly (1) comprising a first drive unit (11) and a second drive unit (12); a first linkage (2), the first linkage (2) being connected to the first drive unit (11); a second linkage (3), the second linkage (3) being connected to the second drive unit (12); a movement platform (4), two ends of the movement platform (4) being respectively connected to the first linkage (2) and the second linkage (3) so as to enable the movement platform (4) to have two degrees of movement freedom in a reference plane; and a machine frame (5), the first drive unit (11) and the second drive unit (12) being respectively connected to the machine frame (5) so as to enable the first drive unit (11), the second drive unit (12), the first linkage (2), the second linkage (3), the machine frame (5) and the movement platform (4) to constitute a spatial closed-loop mechanism.

Description

Parallel mechanism with plane two degrees of freedom of movement Technical field

The present invention relates to the field of machinery, and more particularly to a parallel mechanism having two degrees of freedom of movement in a plane.

Background technique

With the development of the industrial level, the application requirements of robots and machine tools are constantly increasing, such as rapid packaging, sorting and handling of lightweight materials in the plastics, electronics, pharmaceutical and food industries; personalized small-scale CNC operations Such as cutting, printing and engraving; metal cutting, material welding and surface coating in the manufacturing field. The analysis shows that for the above two-dimensional point-to-point and arbitrary curve motion, only two degrees of freedom of motion can be achieved.

The traditional planar two-degree-of-freedom mechanism is mostly realized in series, and there are problems such as error accumulation and large moving parts. Unlike the series mechanism, the parallel mechanism is a closed-loop structure composed of two or more kinematic branches. It has the advantages of compact structure, high rigidity and large bearing capacity, and is one of the ideal choices for robot and machine tool design, but related technologies. While the parallel mechanism in the realization of the plane two degrees of freedom, there are still some problems to be solved, such as the kinematics and structural complexity brought about by redundant and passive constrained branches.

Summary of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a parallel mechanism having two degrees of freedom of movement in a plane. The parallel mechanism having two degrees of freedom of movement can have two degrees of freedom of movement in a plane, and the structure is more compact, simple, and flexible to control. In the field of precision operation and processing.

A parallel mechanism having planar two degrees of freedom of movement according to an embodiment of the present invention, comprising: a drive assembly comprising: a first drive unit and a second drive unit of identical construction; a first link, said a first link is coupled to the first drive unit for movement within a reference plane driven by the first drive unit; a second link coupled to the second drive unit to The second driving unit is driven to move in the reference plane; the moving platform has a main plane that is always perpendicular to the reference plane, and two ends of the moving platform are respectively connected to the first a rod and the second link are coupled to cause the moving platform to have two degrees of freedom of movement in the reference plane, wherein both ends of the first link are respectively coupled to the first drive by the same motion pair The unit is connected to the moving platform, and both ends of the second link are respectively connected to the second driving unit and the moving platform through the same motion pair; the frame, the first driving unit and the first Two drive unit Connecting to the frame such that the first driving unit, the second driving unit, the first link, the second link, the frame, and the moving platform form a space closed loop mechanism.

A parallel mechanism having plane two degrees of freedom of movement according to an embodiment of the present invention, by using two driving units on a frame, and connecting two ends of the moving platform by using two links, and then driving the two driving units Connected separately, thereby moving the movable platform, such that the first driving unit, the second driving unit, the first connecting rod, the second connecting rod, the frame and the moving platform constitute a space closed-loop mechanism, thereby making the parallel mechanism in the embodiment Compact, simple and flexible, it is suitable for precision operation and processing.

According to an embodiment of the present invention, both ends of the first link are respectively connected to the first driving unit and the moving platform by a first motion pair, and the first motion pair includes two perpendicular to each other. a rotating pair, and the first one of the two first motion pairs is parallel; the two ends of the second link are respectively connected to the second driving unit and the moving platform by the second motion pair The second motion pair includes a second rotation pair, and the second ones of the two second motion pairs are parallel to each other.

According to an embodiment of the present invention, the first link includes two disposed side by side, wherein two ends of one of the first links respectively pass through the third motion pair with the first driving unit and the moving platform Connected, the third motion pair includes two third rotation pairs that are perpendicular to each other, and the third rotation pair of the two third motion pairs are parallel, and the other ends of the other first link pass The fourth motion pair is respectively connected to the first driving unit and the moving platform, the fourth motion pair includes a fourth rotating pair, and the fourth rotating pair of the two fourth motion pairs are parallel to each other; The connecting rod includes two disposed side by side, wherein two ends of one of the second links are respectively connected to the first driving unit and the moving platform through a fifth moving pair, and the fifth moving pair includes two mutual a fifth fifth rotating pair, and a fifth one of the two fifth moving pairs is correspondingly parallel, and two ends of the other of the second links are respectively coupled to the second driving unit by a sixth moving pair The moving platform is connected, and the sixth sports sub-package A sixth turning pair, and the sixth sub-two sub sixth rotary movement parallel to one another.

According to an embodiment of the invention, the moving platform is provided with an end effecting device pivotally connected to the moving platform, and the parallel mechanism further comprises a rotating driving device for driving the end effecting device to rotate.

Optionally, the rotary driving device is disposed on the moving platform and connected to the end executing device.

Optionally, the rotating driving device is disposed on the frame and connected to the end executing device by a rotating link, and the two ends of the rotating link respectively pass the Hook hinge and the first rotating driving core device Connected to the end effector.

According to an embodiment of the present invention, the first driving unit includes a first motor and a first moving member constituting a parallelogram in the reference plane, and the four end points of the first moving member are sequentially connected a pivoting structure, wherein two adjacent end positions of the first moving member are fixed and one of them is pivotally connected to the first motor, and the first link is connected to the other two ends of the first moving member The second driving unit includes a second motor and a second moving member constituting a parallelogram in the reference plane, and the four end points of the second moving member are connected in turn to be pivotable structures. The adjacent two end points of the second moving member are fixed in position and one of them is pivotally connected to the second motor, and the second link is connected between the other two end points of the second moving member.

Optionally, the first motor and the second motor are arranged side by side on the frame, and two fixed positions of the first moving member are disposed on the frame, the first moving member An intermediate platform is disposed between the other two adjacent end points, the intermediate platform is connected to the first link, and two fixed positions of the second moving member are disposed on the frame. An intermediate platform is disposed between the other two adjacent end points of the second moving member, and the intermediate platform is coupled to the second link.

Optionally, the parallel mechanism having the plane two degrees of freedom of movement further comprises a motion frame, the motion frame being movable back and forth relative to the frame, wherein two fixed positions of the first moving member are located at An intermediate platform is disposed between the other two adjacent end points of the first moving member, the intermediate platform is connected to the first link, and two of the second moving members are A fixed position is provided on the moving frame, and an intermediate platform is disposed between the other two adjacent ends of the second moving member, and the intermediate platform is connected to the second link.

According to an embodiment of the present invention, the first driving unit includes a third motor and a first screw slider mechanism, the first screw slider mechanism including a first screw and mating with the first screw a first slider, the third motor is connected to the first screw, the first link is connected to the first slider; the second driving unit comprises a fourth motor and a second wire a rod slider mechanism, the second screw slider mechanism including a second screw rod and a second slider coupled to the second screw rod, the fourth motor being coupled to the second screw rod, A second link is coupled to the second slider.

Optionally, the parallel mechanism having the planar two degrees of freedom of movement further includes a first fixed rail, the first fixed rail being configured as at least a portion of the rack, and the third motor and the fourth motor are oppositely disposed The first slider and the second slider are movable along a length direction of the first fixed rail at both left and right ends of the first fixed rail.

Optionally, the parallel mechanism having the plane two degrees of freedom of movement further comprises:

a second fixed rail and a third fixed rail, the second fixed rail and the third fixed rail are arranged side by side and arranged in parallel with each other, and the second fixed rail and the third fixed rail are configured as the rack At least a portion, the third motor and the fourth motor are respectively disposed on the second fixed rail and the third fixed rail, and are disposed opposite to each other, and the first slider and the second slider are respectively It is movable along the length direction of the second fixed rail and the third fixed rail.

The additional aspects and advantages of the invention will be set forth in part in the description which follows.

DRAWINGS

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from

1 is a parallel mechanism having planar two degrees of freedom of movement in accordance with a first embodiment of the present invention;

2 is a parallel mechanism having planar two degrees of freedom of movement in accordance with a second embodiment of the present invention;

Figure 3 is a parallel mechanism having planar two degrees of freedom of movement in accordance with a third embodiment of the present invention;

4 is a parallel mechanism having planar two degrees of freedom of movement in accordance with a fourth embodiment of the present invention;

Figure 5 is a parallel mechanism having planar two degrees of freedom of movement in accordance with a fifth embodiment of the present invention;

Figure 6 is a parallel mechanism having planar two degrees of freedom of movement in accordance with a sixth embodiment of the present invention;

Figure 7 is a parallel mechanism having planar two degrees of freedom of movement in accordance with a seventh embodiment of the present invention;

Figure 8 is a parallel mechanism having planar two degrees of freedom of movement in accordance with an eighth embodiment of the present invention;

Figure 9 is a parallel mechanism having planar two degrees of freedom of movement in accordance with a ninth embodiment of the present invention.

Reference mark:

Parallel mechanism 100;

Drive component 1;

a first driving unit 11; a first motor 111; a first moving member 112; a first end point 1121; a second end point 1122; a third end point 1123; a fourth end point 1124; a third motor 113;

a second driving unit 12; a second motor 121; a second moving member 122; a fourth motor 123; a second slider 124;

First link 2;

Second link 3;

Moving platform 4; main plane 41;

Rack 5;

a first motion pair 61; a second motion pair 62; a third motion pair 63; a fourth motion pair 64; a fifth motion pair 65; a sixth motion pair 66;

End effect device 7;

Rotating the driving device 81; rotating the link 82;

Motion frame 9; motion motor 91;

a first fixed rail 101; a second fixed rail 102; and a third fixed rail 103.

Detailed ways

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are intended to be illustrative of the invention and are not to be construed as limiting.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " After, "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inside", "Outside", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship of the "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of describing the present invention and the simplified description, and does not indicate or imply the indicated device or component. It must be constructed and operated in a particular orientation, and is not to be construed as limiting the invention. Furthermore, features defining "first" and "second" may include one or more of the features, either explicitly or implicitly. In the description of the present invention, "a plurality" means two or more unless otherwise stated.

In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components. The specific meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.

A parallel mechanism 100 having planar two degrees of freedom of movement in accordance with an embodiment of the present invention will now be described with reference to Figs.

As shown in FIGS. 1-9, a parallel mechanism 100 having planar two degrees of freedom of movement according to an embodiment of the present invention includes: a drive assembly 1, a first link 2, a second link 3, a moving platform 4, and a frame 5. .

The driving assembly 1 includes a first driving unit 11 and a second driving unit 12 of the same structure, and the first connecting rod 2 is connected to the first driving unit 11 to be moved in the reference plane by the driving of the first driving unit 11, the second connection The rod 3 is connected to the second driving unit 12 to be moved in the above-mentioned reference plane under the driving of the second driving unit 12, and the moving platform 4 has a main plane 41 which is always perpendicular to the reference plane, and the two ends of the movable platform 4 are respectively A link 2 and a second link 3 are connected such that the movable platform 4 has two degrees of freedom of movement in the reference plane, wherein both ends of the first link 2 are respectively moved with the first drive unit 11 by the same motion pair The platform 4 is connected, and the two ends of the second link 3 are respectively connected to the second driving unit 12 and the movable platform 4 through the same motion pair, and the first driving unit 11 and the second driving unit 12 are respectively connected to the frame 5, The first drive unit 11, the second drive unit 12, the first link 2, the second link 3, the frame 5, and the movable platform 4 are configured to form a space closed loop mechanism.

For example, as shown in FIG. 1 to FIG. 9, the reference plane may be a vertical plane in the drawing, and the reference plane is an imaginary spatial plane, for example, may be a vertical plane, and the main plane 41 of the movable platform 4 and the reference plane are mutually Vertically, the main plane 41 of the moving platform 4 is a horizontal plane. The movable platform 4 can be kept in translation in the reference plane by the indirect connection of the first link 2 and the second link 3, and the movable platform 4 has an edge in the reference plane. Degree of freedom in both the vertical and horizontal directions.

Alternatively, an end effecting device 7 can be provided on the moving platform 4, whereby the parallel mechanism 100 can send the end effecting device 7 to an arbitrary position in a vertical plane, so that robot and machine tool operations can be flexibly realized.

It should be explained here that the first driving unit 11 and the second driving unit 12 are identical in structure, but it does not mean that the sizes of the two must be the same.

A parallel mechanism 100 having plane two degrees of freedom of movement according to an embodiment of the present invention is provided by arranging two driving units on the frame 5 and connecting the two ends of the moving platform 4 by using two connecting rods, and then The driving units are respectively connected to move the moving platform 4, so that the first driving unit 11, the second driving unit 12, the first connecting rod 2, the second connecting rod 3, the frame 5 and the moving platform 4 constitute a space closed-loop mechanism. Therefore, the parallel mechanism 100 in the embodiment is compact, simple, and flexible in control, and is suitable for precision operation and processing.

A parallel mechanism 100 having planar two degrees of freedom of movement according to an embodiment of the present invention will be described in detail below with reference to Figs.

According to an embodiment of the present invention, as shown in FIG. 1, the parallel mechanism 100 includes: a first driving unit 11, a second driving unit 12, a first link 2, a second link 3, a moving platform 4, and a chassis 5.

As shown in FIG. 1, the first driving unit 11 includes a first motor 111 and a first moving member 112 constituting a parallelogram in a reference plane. The four end points of the first moving member 112 are sequentially connected to each other and are pivotable structures. The adjacent two end points of the first moving member 112 are fixed in position and one of them is pivotally connected to the first motor 111, and the first link 2 is connected between the other two end points of the first moving member 112.

The second driving unit 12 includes a second motor 121 and a second moving member 122 constituting a parallelogram in a reference plane. The four end points of the second moving member 122 are sequentially connected to each other to be a pivotable structure, and the second moving member 122 is The adjacent two end points are fixed in position and one of them is pivotally connected to the second motor 121, and the second link 3 is connected between the other two end points of the second moving member 122.

It should be explained that the two end positions of the first moving member 112 are fixed, and the two end positions of the second moving member 122 are fixed, and both of them mean that the fixed end point does not have a translational motion in the reference plane.

Further, the first motor 111 and the second motor 121 are arranged side by side on the frame 5, and the two fixed positions of the first moving member 112 are disposed on the frame 5, and the other two phases of the first moving member 112 An intermediate platform is disposed between the adjacent end points, the intermediate platform is connected to the first link 2, and two of the fixed positions of the second moving member 122 are disposed on the frame 5, and the other two phases of the second moving member 122 An intermediate platform is provided between the adjacent end points, and the intermediate platform is connected to the second link 3.

That is, as shown in FIG. 1, the first moving member 112 has a first end point 1121, a second end point 1122, a third end point 1123, and a fourth end point 1124, wherein the first end point 1121 and the second end point 1122 position Fixed and disposed on the frame 5, wherein the first motor 111 is pivotally connected to the first end point 1121, the first end point 1121 and the fourth end point 1124 are between the active arm, the third end point 1123 and the fourth end point 1124 An intermediate platform is disposed between the first link 2 and the intermediate platform 2, and the second end 1122 and the third end 1123 are slave arms. When the first motor 111 rotates, the driving arm can be driven to rotate around the first end point 1121, so that the first moving member 112 can rotate in a certain arc path in the reference plane. By driving the movement of the first link 2 by the motion mechanism of the parallelogram, it is possible to ensure the fixation of the posture when the first drive unit 11 drives the movement of the first link 2.

Since the first driving unit 11 and the second driving unit 12 are identical in structure, the structure of the second moving member 122 is the same as that of the first moving member 112, and will not be described again.

Further, as shown in FIG. 1, both ends of the first link 2 are respectively connected to the first driving unit 11 and the movable platform 4 through the first motion pair 61, and the first motion pair 61 includes two first rotations perpendicular to each other. The first and second of the two first motion pairs 61 are parallel, and as shown in FIG. 1, the first motion pair 61 may be a hook hinge. Both ends of the second link 3 are connected to the second drive unit 12 and the movable platform 4 through the second motion pair 62, the second motion pair 62 includes a second rotation pair, and the second of the two second motion pairs 62 The rotating pairs are parallel to each other, for example, the second rotating pair may be a pin pin hole structure. Thus, such a structure can make the first link 2 and the first drive unit 11 have two rotational degrees of freedom perpendicular to each other, the first drive unit 11 is more flexible for driving the first link 2, and the second link 3 The second driving unit 12 has a rotational freedom, so that the second connecting rod 3 performs corresponding positional movement under the driving of the first connecting rod 2, and the structure is simple and the cost is low.

Next, a second embodiment of the present invention will be described. The structure of the parallel mechanism 100 shown in FIG. 2 and the parallel mechanism 100 shown in FIG. 1 are not described again. The difference from the mechanism shown in FIG. 1 is:

The first link 2 includes two disposed side by side, wherein both ends of one of the first links 2 are respectively connected to the first driving unit 11 and the movable platform 4 through the third moving pair 63, and the third moving pair 63 includes two mutually The third third rotating pair is vertical, and the third rotating pair of the two third moving pairs 63 are parallel. As shown in FIG. 2, the third moving pair 63 may be a hook hinge. The other ends of the other first link 2 are respectively connected to the first driving unit 11 and the movable platform 4 through the fourth motion pair 64, and the fourth motion pair 64 includes the fourth rotating pair, and the two fourth motion pairs 64 The fourth rotational pair is parallel to each other, for example, the second rotational pair may be a pinned pin hole structure.

Similarly, the second link 3 includes two disposed side by side, wherein two ends of one of the second links 3 are respectively connected to the first driving unit 11 and the movable platform 4 through the fifth motion pair 65, and the fifth motion pair 65 includes Two fifth rotating pairs perpendicular to each other, and the fifth rotating pair of the two fifth moving pairs 65 are parallel, and the fifth moving pair 65 may be a hook hinge. The other ends of the other second link 3 are respectively connected to the second driving unit 12 and the movable platform 4 through the sixth motion pair 66, and the sixth motion pair 66 includes the sixth rotating pair, and the two sixth moving pairs 66 The sixth rotational pair is parallel to each other, for example, the sixth rotational pair may be a pin pin hole structure.

Further, as shown in Fig. 2, the third motion pair 63 and the fifth motion pair 65 are disposed diagonally, and the fourth motion pair 64 and the sixth motion pair 66 are diagonally disposed. Thereby, the strength and rigidity of the moving platform 4 can be increased, thereby widening the application scenario of the parallel mechanism 100.

Some embodiments of the present invention are described below. The parallel mechanism 100 shown in FIGS. 3 and 4 and the structure of the parallel mechanism 100 shown in FIG. 1 are not described again. The difference from the mechanism shown in FIG. 1 is:

The moving platform 4 is provided with an end effecting device 7 pivotally connected to the moving platform 4, and the parallel mechanism 100 further comprises a rotary driving device 81 for driving the end effecting device 7 to rotate. As a result, the drive assembly 1 can also be rotated by the rotary drive 81 when the drive platform 4 is translated in two vertical degrees of freedom in the reference plane, ie in the example shown in FIGS. 3 and 4, The end effector 7 can be rotated about its own axis, i.e. the end effector 7 can be rotated about a vertical axis, whereby the field of application of the parallel mechanism 100 is further expanded and the scope of application is broader.

Specifically, as shown in FIG. 3, according to a third embodiment of the present invention, the rotational driving device 81 is disposed on the movable platform 4 and connected to the end effecting device 7. Specifically, in this embodiment, the rotational driving device 81 may be a motor, and the motor shaft is coupled to the end effect device 7, so that the end effect device 7 can be directly controlled to rotate.

Specifically, as shown in FIG. 4, the rotation driving device 81 is disposed on the frame 5 and connected to the end effect device 7 through the rotating link 82. The two ends of the rotating link 82 respectively pass the Hook hinge and the first rotation driving nuclear device. It is connected to the end effector 7. The rotary drive unit 81 is thus arranged on the frame 5, so that the mass of the movable platform 4 can be reduced with respect to the parallel arrangement in the third embodiment, reducing the resistance to movement. Alternatively, the rotating link 82 may include a plurality of segments, and the two ends may be connected by a motion pair, thereby making the movement of the rotating link 82 more flexible.

Next, a fifth embodiment of the present invention will be described. The structure of the parallel mechanism 100 shown in FIG. 5 and the parallel mechanism 100 shown in FIG. 1 are not described again. The difference from the mechanism shown in FIG. 1 is as follows:

The parallel mechanism 100 further includes a moving frame 9 that is movable back and forth with respect to the frame 5. Further, two of the fixed positions of the first moving member 112 are disposed on the moving frame 9, the first movement An intermediate platform is disposed between the other two adjacent end points of the member 112, and the intermediate platform is connected to the first link 2; two of the fixed positions of the second moving member 122 are disposed on the moving frame 9, and the second An intermediate platform is disposed between the other two adjacent end points of the moving member 122, and the intermediate platform is coupled to the second link 3.

That is, as shown in FIG. 5, the moving frame 9 is movable in the front-rear direction, thereby increasing the degree of freedom perpendicular to the direction of the reference plane for the moving platform 4, further expanding the range of motion of the moving platform 4. More flexible to use.

As shown in FIG. 5, the frame 5 includes two front and rear ends, and the moving motor 91 is disposed between the front and rear two frames 5 and is guided by the guide bar. A moving motor 91 can be disposed on one of the frames 5, and the moving motor 91 can drive the moving frame 9 to move by the screw nut mechanism. This makes it possible to easily realize the structural components of the moving frame 9.

Further embodiments in accordance with the present invention are described below with reference to Figures 6-9. In the example shown in FIGS. 6-9, unlike the parallel mechanism 100 shown in FIGS. 1-5, the structure of the drive assembly 1 is different, and the drive unit is changed from a parallelogram moving member to a screw slider mechanism. .

Specifically, as shown in FIGS. 6-9, the first driving unit 11 includes a third motor 113 and a first screw slider mechanism, and the first screw slider mechanism includes a first screw and a first screw The first slider 114 is engaged, the third motor 113 is connected to the first screw rod, the first link 2 is connected to the first slider 114; the second driving unit 12 includes a fourth motor 123 and a second screw slider The second screw slider mechanism includes a second screw rod and a second slider 124 coupled to the second screw rod, the fourth motor 123 is coupled to the second screw rod, and the second link rod 3 is coupled to the second slider 124 on. Thereby, the structure of the first drive unit 11 and the second drive unit 12 can be made simpler, reducing the possibility of motion failure.

Specifically, as shown in FIGS. 6 and 7, the parallel mechanism 100 further includes a first fixed rail 101, the first fixed rail 101 is configured as at least a portion of the frame 5, and the third motor 113 and the fourth motor 123 are oppositely disposed. The left and right ends of the first fixed rail 101, the first slider 114 and the second slider 124 are movable along the length direction of the first fixed rail 101. The first fixed rail 101 may extend in a horizontal direction, and the first fixed rail 101 not only provides mounting support for the third motor 113 and the fourth motor 123, but also acts as a path for the movement of the first slider 114 and the second slider 124. The limited function ensures the stability of the mechanism.

Of course, in the example shown in FIG. 6, the structures of the first link 2 and the second link 3 are the same as those in the first embodiment, and in the example shown in FIG. 7, the first link 2 and the second The structure of the connecting rod 3 is the same as that of the second embodiment, and will not be described herein.

Specifically, as shown in FIG. 8 and FIG. 9, the parallel mechanism 100 further includes: a second fixed rail 102 and a third fixed rail 103. The second fixed rail 102 and the third fixed rail 103 are arranged side by side and arranged in parallel with each other, and the second fixed The rail 102 and the third fixed rail 103 are configured as at least a portion of the frame 5, and the third motor 113 and the fourth motor 123 are respectively disposed on the second fixed rail 102 and the third fixed rail 103, and are disposed opposite to each other, the first slide The block 114 and the second slider 124 are movable along the length direction of the second fixed rail 102 and the third fixed rail 103, respectively. The second fixed rail 102 and the third fixed rail 103 both extend in a vertical direction, and the second fixed rail 102 not only provides mounting support for the third motor 113, but also acts as a path for the movement of the first slider 114. Therefore, the stability of the mechanism is ensured. Similarly, the third fixed rail 103 not only provides the mounting support for the fourth motor 123, but also acts as a path for the movement of the second slider 124, thereby ensuring the stability of the mechanism. .

Of course, in the example shown in FIG. 8, the structures of the first link 2 and the second link 3 are the same as those in the first embodiment, and in the example shown in FIG. 9, the first link 2 and the second The structure of the connecting rod 3 is the same as that of the second embodiment, and will not be described herein.

In summary, according to the parallel mechanism having plane two degrees of freedom of movement, the first driving unit, the second driving unit, the first connecting rod, the second connecting rod, the frame and the moving platform constitute a space closed loop mechanism, thereby The parallel mechanism in the embodiment is compact, simple, and flexible in control, and is suitable for precision operation and processing.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples", etc. Particular features, structures, materials or features described in the examples or examples are included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

While the embodiments of the present invention have been shown and described, the embodiments of the invention may The scope of the invention is defined by the claims and their equivalents.

Claims (12)

A parallel mechanism having two degrees of freedom of movement in a plane, comprising: a drive assembly comprising a first drive unit and a second drive unit of identical construction; a first link, the first link being coupled to the first drive unit for movement in a reference plane driven by the first drive unit; a second link, the second link being coupled to the second drive unit for movement within the reference plane driven by the second drive unit; a moving platform having a main plane that is always perpendicular to the reference plane, and two ends of the moving platform are respectively connected to the first link and the second link to make the moving platform There are two degrees of freedom of movement in the reference plane, wherein both ends of the first link are respectively connected to the first driving unit and the moving platform through the same motion pair, and both ends of the second link Connected to the second driving unit and the moving platform by the same motion pair; a rack, the first driving unit and the second driving unit are respectively connected to the frame, such that the first driving unit, the second driving unit, the first link, the The second link, the frame and the moving platform form a space closed loop mechanism. A parallel mechanism having plane two degrees of freedom of movement according to claim 1, wherein Both ends of the first link are respectively connected to the first driving unit and the moving platform by a first motion pair, and the first motion pair includes two first rotating pairs that are perpendicular to each other, and two The first rotating pair in the first motion pair corresponds to parallel; Both ends of the second link are respectively connected to the second driving unit and the moving platform by a second moving pair, the second moving pair includes a second rotating pair, and the two second moving pairs The second rotational pair is parallel to each other. A parallel mechanism having planar two degrees of freedom of movement according to claim 1 or 2, wherein The first link includes two disposed side by side, wherein two ends of one of the first links are respectively connected to the first driving unit and the moving platform through a third motion pair, the third motion pair Comprising two third rotating pairs perpendicular to each other, and the third rotating pair of the two of the third moving pairs is parallel, The other ends of the other first connecting rod are respectively connected to the first driving unit and the moving platform through a fourth moving pair, the fourth moving pair includes a fourth rotating pair, and two fourth moving pairs The fourth rotating pair is parallel to each other; The second link includes two disposed side by side, wherein two ends of one of the second links are respectively connected to the first driving unit and the moving platform through a fifth motion pair, the fifth motion pair Comprising two fifth rotating pairs perpendicular to each other, and the fifth rotating pair of the two of the fifth moving pairs is parallel, The other ends of the other second link are respectively connected to the second driving unit and the moving platform through a sixth motion pair, the sixth motion pair includes a sixth rotating pair, and two sixth motion pairs The sixth rotating pair is parallel to each other. The parallel mechanism having plane two degrees of freedom of movement according to any one of claims 1 to 3, wherein the moving platform is provided with an end effecting device pivotally connected to the moving platform, the parallel connection The mechanism also includes a rotary drive for driving the end effector to rotate. A parallel mechanism having planar two degrees of freedom of movement according to claim 4, wherein said rotary drive means is disposed on said movable platform and coupled to said end effector. The parallel mechanism with plane two degrees of freedom of movement according to claim 4, wherein the rotary driving device is disposed on the frame and connected to the end effecting device by a rotating link, the rotating link The two ends are respectively connected to the first rotary drive core device and the end effect device by a hook hinge. A parallel mechanism having plane two degrees of freedom of movement according to any one of claims 1 to 6, wherein The first driving unit includes a first motor and a first moving member constituting a parallelogram in the reference plane, and the four end points of the first moving member are sequentially connected to each other to be a pivotable structure, the first Two adjacent end points of the moving member are fixed in position and one of them is pivotally connected to the first motor, and the first link is connected between the other two end points of the first moving member; The second driving unit includes a second motor and a second moving member constituting a parallelogram in the reference plane, and the four end points of the second moving member are connected in turn to be pivotable structures, and the second The adjacent two end points of the moving member are fixed in position and one of them is pivotally connected to the second motor, and the second link is connected between the other two end points of the second moving member. The parallel mechanism with plane two degrees of freedom of movement according to claim 7, wherein the first motor and the second motor are arranged side by side on the frame. Two fixed positions of the first moving member are disposed on the frame, and an intermediate platform is disposed between the other two adjacent ends of the first moving member, the intermediate platform and the intermediate platform The first link is connected, Two fixed positions of the second moving member are disposed on the frame, and an intermediate platform is disposed between the other two adjacent ends of the second moving member, the intermediate platform and the intermediate platform The second link is connected. The parallel mechanism with plane two degrees of freedom of movement according to claim 7, further comprising a moving frame, wherein the moving frame is movable back and forth with respect to the frame, Two fixed positions of the first moving member are disposed on the moving frame, and an intermediate platform is disposed between the other two adjacent end points of the first moving member, the intermediate platform and the middle Said that the first link is connected, Two fixed positions of the second moving member are disposed on the moving frame, and an intermediate platform is disposed between the other two adjacent end points of the second moving member, the intermediate platform and the middle The second link is connected. A parallel mechanism having plane two degrees of freedom of movement according to any one of claims 1 to 6, wherein The first drive unit includes a third motor and a first screw slider mechanism, the first screw slider mechanism including a first screw and a first slider that mates with the first screw, a third motor is coupled to the first lead screw, and the first link is coupled to the first slider; The second drive unit includes a fourth motor and a second screw slider mechanism, the second screw slider mechanism including a second screw and a second slider that mates with the second screw A fourth motor is coupled to the second lead screw, and the second link is coupled to the second slider. A parallel mechanism having planar two degrees of freedom of movement according to claim 10, further comprising a first fixed rail, said first fixed rail being configured as at least a portion of said frame, said third motor And the fourth motor is disposed opposite to the left and right ends of the first fixed rail, and the first slider and the second slider are movable along a length direction of the first fixed rail. The parallel mechanism with planar two degrees of freedom of movement according to claim 10, further comprising: a second fixed rail and a third fixed rail, the second fixed rail and the third fixed rail are arranged side by side and arranged in parallel with each other, and the second fixed rail and the third fixed rail are configured as the rack At least a portion, the third motor and the fourth motor are respectively disposed on the second fixed rail and the third fixed rail, and are disposed opposite to each other, and the first slider and the second slider are respectively It is movable along the length direction of the second fixed rail and the third fixed rail.

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