CN102615641A - Five-degree-of-freedom parallel power head - Google Patents
Five-degree-of-freedom parallel power head Download PDFInfo
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- CN102615641A CN102615641A CN201210083569XA CN201210083569A CN102615641A CN 102615641 A CN102615641 A CN 102615641A CN 201210083569X A CN201210083569X A CN 201210083569XA CN 201210083569 A CN201210083569 A CN 201210083569A CN 102615641 A CN102615641 A CN 102615641A
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Abstract
The invention discloses a five-degree-of-freedom parallel power head, which comprises a holder. A central hole is arranged in the center of a base of the holder, and a first hinge with two rotational degrees of freedom is arranged in the central hole. The first hinge is connected with a driven branch chain through a sliding pair, a first kinematic chain, a second kinematic chain and a third kinematic chain are evenly distributed on the periphery of the driven branch chain and fixedly connected onto the holder, a movable platform is arranged below the holder and comprises an upper platform and a lower platform which are rotatably connected with each other through a bearing, the lower end of the driven branch chain is fixedly connected with the upper platform, the lower end of the first kinematic chain is rotatably connected with the upper platform through a fourth hinge with three rotational degrees of freedom, and the second kinematic chain and the third kinematic chain are connected onto the upper platform through the same connecting structure. The five-degree-of-freedom parallel power head is fast in response speed, fine in dynamic performance and large in rigidity-to-mass ratio.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of parallel robot of realizing five coordinate operation functions.
Background technology
Can know according to patent US4732525, ZL200510015095.5, existing multi-coordinate manipulator, its way of realization is generally the hybrid connected structure form that the lower-mobility parallel institution is aided with positioning head.The multi-coordinate working ability comprises the location, position of moving platform and the attitude location of end effector.Wherein, location, the position of mechanism's moving platform is realized that by the lower-mobility parallel institution servomotor that mainly is installed on the active branched chain through adjusting is carried out; The attitude location of end effector is realized by positioning head (like the A/C Double swing head), carries out through the servomotor that adjusting is installed on the Double swing head.
The deficiency of this type of manipulator is: positioning head is installed servomotor and decelerator etc., and weight is excessive, influences the responding ability and the dynamic property of mechanism, and mechanism's rigidity mass ratio is less, and integral rigidity cannot say for sure to demonstrate,prove.
Summary of the invention
The present invention provides a kind of five degree of freedom parallel connection unit head for solving the technical problem that exists in the known technology, and the response speed of this unit head is fast, dynamic property good, the rigidity mass ratio is big.
The technical scheme that the present invention takes for the technical problem that exists in the solution known technology is: a kind of five degree of freedom parallel connection unit head; Comprise fixed mount; There is a central openings in the central authorities of said fixed mount base, are provided with first hinge with double rotation freedom degrees in the said central openings; Said first hinge links to each other with driven side chain through moving sets; Around said driven side chain, be provided with first, second and the 3rd kinematic chain that are uniformly distributed with; Said first, second is fixed on the said fixed mount with the 3rd kinematic chain, and said first kinematic chain comprises first active branched chain, and second kinematic chain comprises the second and the 3rd active branched chain; The 3rd kinematic chain comprises the 4th and the 5th active branched chain, and said first, second, third, fourth is identical with the structure of the 5th active branched chain;
Said each active branched chain includes the wallboard that is fixedly connected with fixed mount; In said wallboard upper end servomotor is installed, said driven by servomotor first ball-screw is connected with first nut on said first ball-screw; Said first nut is fixed in the contiguous block; Said contiguous block is slidingly connected on the guide rail, and said guide rail is fixed on the said wallboard, and said contiguous block links to each other with the follower lever upper end through the 3rd hinge with two rotational freedoms; The below of said fixed mount is provided with a moving platform, and said moving platform comprises upper mounting plate and two parts of lower platform; Said upper mounting plate and said lower platform are rotatedly connected through bearing; The lower end of said driven side chain is fixedly connected with said upper mounting plate; The lower end of said first active branched chain is rotatedly connected through the 4th hinge and the upper mounting plate with three-rotational-freedom; A rotating shaft of five hinge and first cross axle of the lower end of said second active branched chain through having a rotational freedom is hinged; A rotating shaft of six hinge and second cross axle of the lower end of said the 3rd active branched chain through having a rotational freedom is hinged; Another rotating shaft of said first cross axle and second cross axle is rotatably connected on respectively in first balance staff; Said first balance staff is fixed on first hinge axis; Said first hinge axis is connected on first hinge seat, and said first hinge seat is fixedly connected on the said upper mounting plate; A rotating shaft of seven hinge and three cross axle of the lower end of said the 4th active branched chain through having a rotational freedom is hinged; A rotating shaft of eight hinge and four cross axle of the lower end of said the 5th active branched chain through having a rotational freedom is hinged; Another rotating shaft of said the 3rd cross axle and the 4th cross axle is rotatably connected on respectively in second balance staff; Said second balance staff is fixed on second hinge axis; Said second hinge axis is connected on second hinge seat, and said second hinge seat is fixedly connected on the upper mounting plate; One end of said first hinge axis links to each other with first drive bevel gear; Be engaged with first driven wheel of differential on said first drive bevel gear, said first driven wheel of differential is fixed in first rotating shaft, and said first rotating shaft is rotatably connected on the said upper mounting plate; Be connected with first driving pulley in said first rotating shaft; Said first driving pulley is connected with first driven pulley through belt, and said first driven pulley is fixed in the 3rd rotating shaft, and said the 3rd rotating shaft is arranged on the lower platform; One end of said second hinge axis links to each other with second drive bevel gear; Be engaged with second driven wheel of differential on said second drive bevel gear, said second driven wheel of differential is fixed in second rotating shaft, and said second rotating shaft is rotatably connected on the said upper mounting plate; Be connected with second driving pulley in said second rotating shaft; Said second driving pulley is connected with second driven pulley through belt, and said second driven pulley is fixed in the 4th rotating shaft, and said the 4th rotating shaft lower end is passed the 3rd rotating shaft and is deep in the lower platform; And it is affixed with the 3rd drive bevel gear; Be engaged with the 3rd driven wheel of differential on said the 3rd drive bevel gear, said the 3rd driven wheel of differential is fixed in the 5th rotating shaft, and said the 5th rotating shaft is rotatably connected on the lower platform.
Said first hinge comprises outer ring and inner ring; Said inner ring is provided with the inner ring rotating shaft outward, and said outer ring is provided with the outer ring rotating shaft, and said outer ring is rotationally connected through outer ring rotating shaft and fixed mount; Said inner ring is rotationally connected through inner ring rotating shaft and outer ring, and rotating shaft of said outer ring and inner ring rotating shaft are arranged in a crossed manner.
Said first drive bevel gear is arranged on the inner of first hinge axis, and said second drive bevel gear is arranged on the inner of second hinge axis.
Advantage and good effect that the present invention has are: mechanism can realize five coordinate working abilities, and the setting movement that a wherein existing translation two is rotated has the attitude adjustment around A and/or C axle again, can effectively reduce the positioning head quality, realizes the modular construction design.Kinematic chain adopts two active branched chain forms can improve mechanism's integral rigidity, guarantees that simultaneously mechanism's dynamic property is good, the rigidity mass ratio big, positioning accuracy is with the repetitive positioning accuracy height and have the advantage direction of feed.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 be among the present invention an active branched chain structural representation;
Fig. 4 is the outside drawing of moving platform among the present invention;
Fig. 5 is the internal structure sketch map of moving platform among the present invention.
The specific embodiment
For further understanding summary of the invention of the present invention, characteristics and effect, the following examples of giving an example now, and conjunction with figs. specifies as follows:
See also Fig. 1～Fig. 5, a kind of five degree of freedom parallel connection unit head, by fixed mount 1, first, second, third, fourth, the 5th active branched chain 2,3,4,5,6, driven side chain 7, moving platform 8 constitutes.There is a central openings in the central authorities of said fixed mount 1, are provided with first hinge 9 with double rotation freedom degrees in the said central openings, and said first hinge 9 links to each other with driven side chain 7 through moving sets 10.In the present embodiment; Said first hinge 9 comprises outer ring and inner ring; Said inner ring is provided with the inner ring rotating shaft outward, is provided with the outer ring rotating shaft outside the said outer ring, and said outer ring is rotationally connected through outer ring rotating shaft and fixed mount; Said inner ring is rotationally connected through inner ring rotating shaft and outer ring, and rotating shaft of said outer ring and inner ring rotating shaft are arranged in a crossed manner; Said inner ring links to each other with driven side chain 7 through moving sets 10.Said first active branched chain 2 is first kinematic chain; Second, third active branched chain 3,4 is second kinematic chain; Four, the 5th active branched chain 5,6 is the 3rd kinematic chain, and said first, second, third kinematic chain is symmetrically distributed on the said fixed mount with respect to driven chain space.Said the first, second, third, fourth, the 5th active branched chain 2,3,4,5,6 has identical version; Said each active branched chain includes the wallboard 11 that is fixedly connected with fixed mount; In said wallboard upper end servomotor 12 is installed; Said driven by servomotor first ball-screw 13 is connected with first nut on said first ball-screw 13, and said first nut is fixed in the contiguous block 15; Said contiguous block 15 is slidingly connected on the guide rail 14; Said guide rail 14 is fixed on the said wallboard 11, and said contiguous block 15 links to each other with follower lever 17 upper ends through the 3rd hinge 16 with two rotational freedoms, and said the 3rd hinge 16 can adopt versions such as Hooke's hinge.
The below of said fixed mount 1 is provided with a moving platform 8, comprises upper mounting plate 18 and lower platform 19, and said upper mounting plate 18 and said lower platform 19 are rotatedly connected through bearing.The lower end of said driven side chain 7 is fixedly connected with said upper mounting plate 18.Said first active branched chain 2 is rotatedly connected with upper mounting plate through the 4th hinge 20, and said the 4th hinge has three rotational freedoms, can adopt Hooke's hinge to be aided with forms such as the axis of rotation, spherical hinge.A rotating shaft of five hinge 21 and first cross axle 23 of the lower end of said second active branched chain 3 through having a rotational freedom is hinged; A rotating shaft of six hinge 22 and second cross axle 24 of the lower end of said the 3rd active branched chain 4 through having a rotational freedom is hinged; Another rotating shaft of said first cross axle 23 and second cross axle 24 is rotatably connected on respectively in first balance staff 25; Said first balance staff 25 is fixed on first hinge axis 26; Said first hinge axis 26 is rotatably connected on first hinge seat 27, and said first hinge seat 27 is fixedly connected on the said upper mounting plate 18;
Said the 4th, the 5th active branched chain is identical with being connected of upper mounting plate with connection and the 3rd, the 4th active branched chain of upper mounting plate.A rotating shaft of seven hinge 28 and three cross axle 30 of the lower end of said the 4th active branched chain 5 through having a rotational freedom is hinged; A rotating shaft of eight hinge 29 and four cross axle 31 of the lower end of said the 5th active branched chain 6 through having a rotational freedom is hinged; Another rotating shaft of said the 3rd cross axle 30 and the 4th cross axle 31 is rotatably connected on respectively in second balance staff 32; Said second balance staff 32 is fixed on second hinge axis 33; Said second hinge axis 33 is rotatably connected on second hinge seat 34, and said second hinge seat 34 is fixedly connected on the upper mounting plate 18; One end of said first, second hinge axis 26,33 separately be arranged on upper mounting plate in first, second drive bevel gear 37,38 link to each other; Be engaged with first driven wheel of differential 39 on said first drive bevel gear 37; Said first driven wheel of differential 39 is fixed in first rotating shaft 35; Said first rotating shaft 35 is rotatably connected on the said upper mounting plate 18, is connected with first driving pulley 40 in said first rotating shaft 35, and said first driving pulley 40 is connected with first driven pulley 42 through belt; Said first driven pulley 42 is fixed in the 3rd rotating shaft 41, and said the 3rd rotating shaft 41 is arranged on the lower platform 19; One end of said second hinge axis 33 links to each other with second drive bevel gear 38; Be engaged with second driven wheel of differential 43 on said second drive bevel gear 38, said second driven wheel of differential 43 is fixed in second rotating shaft 36, and said second rotating shaft 36 is rotatably connected on the said upper mounting plate 18; Be connected with second driving pulley 44 in said second rotating shaft 36; Said second driving pulley 44 is connected with second driven pulley 46 through belt, and said second driven pulley 46 is fixed in the 4th rotating shaft 45, and said the 4th rotating shaft 45 lower ends are passed the 3rd rotating shaft and are deep in the lower platform; And it is affixed with the 3rd drive bevel gear 47; Be engaged with the 3rd driven wheel of differential 49 on said the 3rd drive bevel gear 47, said the 3rd driven wheel of differential is fixed in the 5th rotating shaft 48, and said the 5th rotating shaft is rotatably connected on the lower platform.
Below in conjunction with each width of cloth figure the present invention is further specified:
As depicted in figs. 1 and 2, a kind of five degree of freedom parallel connection unit head of the present invention, by fixed mount 1, moving platform 8, first, second, third, fourth, the 5th active branched chain 2,3,4,5,6, driven side chain 7 constitutes.Wherein, first active branched chain 2 is first kinematic chain, and second active branched chain 3 and the 3rd active branched chain 4 are formed second kinematic chain, and the 4th active branched chain 5 and the 5th active branched chain 6 are formed the 3rd kinematic chain.Driven side chain 7 is positioned at the central openings of fixed mount 1, and first, second, third kinematic chain is symmetricly set on the said fixed mount about driven side chain 7 spaces.Connect first hinge 9 with two revolution frees degree in the said central openings, said first hinge 9 links to each other with said driven side chain 7 through moving sets 10.
As shown in Figure 3, said each active branched chain includes wallboard 11, servomotor 12, the first screw-nut structures, the second guide rail slide block structure, contiguous block 15, the three hinges 16 and follower lever 17.Wallboard 11 is fixedly connected on the fixed mount; Servomotor 12 is installed in said wallboard one end; Said servomotor output shaft links to each other with first ball-screw 13 through shaft coupling, and said wallboard is provided with second guide rail 14, fixed installation second slide block and first nut on the contiguous block 15; Then first ball-screw 13 and first nut thread are connected to form first screw-nut structure, and second guide rail 14 and second slide block are slidingly connected and form the second guide rail slide block structure.Contiguous block 15 links to each other with follower lever 17 through the 3rd hinge 16, and said the 3rd hinge 16 has double rotation freedom degrees, can adopt versions such as Hooke's hinge.Contiguous block drives the type of drive that all adopts servomotor-decelerator-ball-screw that moves of follower lever in the present embodiment, but also can adopt hydraulic pressure, structure such as pneumatic as type of drive.
As shown in Figure 4, moving platform 8 comprises upper mounting plate 18 and 19 two parts of lower platform, and said upper mounting plate 18 and said lower platform 19 are rotatedly connected through bearing.The lower end of said driven side chain 7 is fixedly connected with said upper mounting plate 18, and said first active branched chain 2 is connected with upper mounting plate 18 through the 4th hinge 20, and said the 4th hinge 20 has three rotational freedoms, can adopt Hooke's hinge to be aided with forms such as the axis of rotation, spherical hinge.A rotating shaft of five hinge 21 and first cross axle 23 of the lower end of said second active branched chain 3 through having a rotational freedom is hinged; A rotating shaft of six hinge 22 and second cross axle 24 of the lower end of said the 3rd active branched chain 4 through having a rotational freedom is hinged; Another rotating shaft of said first cross axle 23 and second cross axle 24 is rotatably connected on respectively in first balance staff 25; Said first balance staff 25 is fixed on first hinge axis 26; Said first hinge axis 26 is rotatably connected on first hinge seat 27, and said first hinge seat 27 is fixedly connected on the said upper mounting plate 18.
As shown in Figure 5, said the four, the five active branched chain 5,6 is identical with being connected of upper mounting plate 18 with second, third active branched chain 3,4 with the connection of upper mounting plate 18.A rotating shaft of seven hinge 28 and three cross axle 30 of the lower end of said the 4th active branched chain 5 through having a rotational freedom is hinged; A rotating shaft of eight hinge 29 and four cross axle 31 of the lower end of said the 5th active branched chain 6 through having a rotational freedom is hinged; Another rotating shaft of said the 3rd cross axle 31 and the 4th cross axle 31 is rotatably connected on respectively in second balance staff 32; Said second balance staff 32 is fixed on second hinge axis 33; Said second hinge axis 33 is rotatably connected on second hinge seat 34, and said second hinge seat 34 is fixedly connected on the upper mounting plate 18.
One end of said first hinge axis 26 links to each other with first drive bevel gear 37 in being arranged on upper mounting plate 18; In the said upper mounting plate 18 along driven side chain axis direction through bearing first rotating shaft 35 that is rotationally connected, said first rotating shaft 35 is connected with first driven wheel of differential 39 and first driving pulley 40 through key.First driving pulley 40 is connected through belt with first driven pulley 42, and said first driven pulley 42 is connected in the 3rd rotating shaft 41 through key, and the 3rd rotating shaft 41 is arranged on lower platform 19.Second kinematic chain then, when promptly the servomotor of second, third active branched chain 3,4 had different input value, first balance staff 25 rotated; Drive first hinge axis 26 around self axis rotation; Rotate thereby drive first drive bevel gear 37, reach first driven wheel of differential 39 through the gears engaged effect, and then reach first driving pulley 40 by first rotating shaft 35; Thereby first driven pulley 42 rotates under the effect of belt, drives the 3rd rotating shaft 41 and the rotation of lower platform 19 generations around the C axle.In order to make structure compact more, in the present embodiment, said first drive bevel gear 37 is arranged on the inner of first hinge axis 26.
One end of said second hinge axis 33 connects second drive bevel gear 38 that is arranged in the upper mounting plate 18 through key; In the said upper mounting plate 18 along driven side chain axis direction through bearing second rotating shaft 36 that is rotationally connected, said second rotating shaft 36 connects second driven wheel of differential 43 and second driving pulley 44 through key.Second driving pulley 44 is connected through belt with second driven pulley 46, and said second driven pulley 46 is connected in the 4th rotating shaft 45 through key.Said the 4th rotating shaft 45 lower ends are passed the 3rd rotating shaft and are deep in the lower platform, and affixed with the 3rd drive bevel gear 47, the cooperation that is meshed with the 3rd driven wheel of differential 49 in the 5th rotating shaft 48 that is located at lower platform through bearing bracket stand of described the 3rd drive bevel gear 47.The 3rd kinematic chain then, when promptly the 4th, the 5th active branched chain 5,6 had the driving of different input values, second balance staff 32 rotated; Drive second hinge axis 33 and produce rotation, and then drive 38 rotations of second drive bevel gear, second drive bevel gear 38 and 43 engagements of second driven wheel of differential around self axis; Make to rotate to reach 44 rotations of second rotating shaft, 36, the second rotating shafts, 36 drives, second driving pulley, reach second driven pulley 46 through belt; Thereby driving the 4th rotating shaft 45 rotates; And then rotation reached the 3rd drive bevel gear 47, and the gears engaged effect causes the 3rd driven wheel of differential 49 to rotate, and then the 5th rotating shaft 48 can realize the rotation around the A axle.In order to make structure compact more, in the present embodiment, said second drive bevel gear 38 is arranged on the inner of second hinge axis 33.
Novel five degree of freedom parallel connection unit head of the present invention can be realized the motion of five degree of freedom.Because the contiguous block 15 of first, second, third kinematic chain can move along the first ball-screw axis direction with respect to fixed mount; Said contiguous block links to each other with follower lever 17 through the 3rd hinges 16 with two revolution frees degree, said first, second, third kinematic chain with have three being connected of moving platform and turn round the frees degree; Driven side chain links to each other with fixed mount with moving sets through first hinge with double rotation freedom degrees; The lower end is fixedly connected with moving platform; So moving platform can be realized the motion that a translation two is rotated under the driving of said each kinematic chain servomotor; Be that mechanism can arrive the arbitrary position in the given working space, realize positioning function.When second active branched chain 3 in second kinematic chain has different input value with the servomotor of the 3rd active branched chain 4, can the rotation that two chain ends produce be reached lower platform 19 through bevel gear, synchronous band, realize the rotation of lower platform 19 around the C axle.When the 4th active branched chain 5 in the 3rd kinematic chain has different input value with the drive unit of the 5th active branched chain 6; Can the rotation that two chain ends produce be reached the 5th rotating shaft 48 through bevel gear, synchronous band, bevel gear; Mechanism realizes the rotation of the 5th rotating shaft, so can realize the five degree of freedom motion around the A axle.
Novel five degree of freedom parallel connection unit head of the present invention, second, third kinematic chain adopts the structure of two active branched chain, can realize the setting movement that a translation two is rotated at faster speed by driving mechanism; After reaching appointed positions again, make two active branched chain have different inputs, driving mechanism produces the rotation around the A/C axle, realizes the attitude adjustment.Thereby the positioning head quality can effectively reduce, and mechanism's integral rigidity improves, and positioning head positioning accuracy and repetitive positioning accuracy strengthen, and realizes that mechanism's fast forward capability and dynamic property promote.
Although combine accompanying drawing that the preferred embodiments of the present invention are described above; But the present invention is not limited to the above-mentioned specific embodiment, and the above-mentioned specific embodiment only is schematically, is not restrictive; Those of ordinary skill in the art is under enlightenment of the present invention; Not breaking away under the scope situation that aim of the present invention and claim protect, can also make a lot of forms, these all belong within protection scope of the present invention.
Claims (3)
1. a five degree of freedom parallel connection unit head is characterized in that comprise fixed mount, there is a central openings in the central authorities of said fixed mount base, is provided with first hinge with double rotation freedom degrees in the said central openings; Said first hinge links to each other with driven side chain through moving sets; Around said driven side chain, be provided with first, second and the 3rd kinematic chain that are uniformly distributed with; Said first, second is fixed on the said fixed mount with the 3rd kinematic chain, and said first kinematic chain comprises first active branched chain, and second kinematic chain comprises the second and the 3rd active branched chain; The 3rd kinematic chain comprises the 4th and the 5th active branched chain, and said first, second, third, fourth is identical with the structure of the 5th active branched chain;
Said each active branched chain includes the wallboard that is fixedly connected with fixed mount; In said wallboard upper end servomotor is installed, said driven by servomotor first ball-screw is connected with first nut on said first ball-screw; Said first nut is fixed in the contiguous block; Said contiguous block is slidingly connected on the guide rail, and said guide rail is fixed on the said wallboard, and said contiguous block links to each other with the follower lever upper end through the 3rd hinge with two rotational freedoms;
The below of said fixed mount is provided with a moving platform, and said moving platform comprises upper mounting plate and two parts of lower platform; Said upper mounting plate and said lower platform are rotatedly connected through bearing; The lower end of said driven side chain is fixedly connected with said upper mounting plate; The lower end of said first active branched chain is rotatedly connected through the 4th hinge and the upper mounting plate with three-rotational-freedom,
A rotating shaft of five hinge and first cross axle of the lower end of said second active branched chain through having a rotational freedom is hinged; A rotating shaft of six hinge and second cross axle of the lower end of said the 3rd active branched chain through having a rotational freedom is hinged; Another rotating shaft of said first cross axle and second cross axle is rotatably connected on respectively in first balance staff; Said first balance staff is fixed on first hinge axis; Said first hinge axis is connected on first hinge seat, and said first hinge seat is fixedly connected on the said upper mounting plate;
A rotating shaft of seven hinge and three cross axle of the lower end of said the 4th active branched chain through having a rotational freedom is hinged; A rotating shaft of eight hinge and four cross axle of the lower end of said the 5th active branched chain through having a rotational freedom is hinged; Another rotating shaft of said the 3rd cross axle and the 4th cross axle is rotatably connected on respectively in second balance staff; Said second balance staff is fixed on second hinge axis; Said second hinge axis is connected on second hinge seat, and said second hinge seat is fixedly connected on the upper mounting plate; One end of said first hinge axis links to each other with first drive bevel gear; Be engaged with first driven wheel of differential on said first drive bevel gear, said first driven wheel of differential is fixed in first rotating shaft, and said first rotating shaft is rotatably connected on the said upper mounting plate; Be connected with first driving pulley in said first rotating shaft; Said first driving pulley is connected with first driven pulley through belt, and said first driven pulley is fixed in the 3rd rotating shaft, and said the 3rd rotating shaft is arranged on the lower platform;
One end of said second hinge axis links to each other with second drive bevel gear; Be engaged with second driven wheel of differential on said second drive bevel gear, said second driven wheel of differential is fixed in second rotating shaft, and said second rotating shaft is rotatably connected on the said upper mounting plate; Be connected with second driving pulley in said second rotating shaft; Said second driving pulley is connected with second driven pulley through belt, and said second driven pulley is fixed in the 4th rotating shaft, and said the 4th rotating shaft lower end is passed the 3rd rotating shaft and is deep in the lower platform; And it is affixed with the 3rd drive bevel gear; Be engaged with the 3rd driven wheel of differential on said the 3rd drive bevel gear, said the 3rd driven wheel of differential is fixed in the 5th rotating shaft, and said the 5th rotating shaft is rotatably connected on the lower platform.
2. five degree of freedom parallel connection unit head according to claim 1; It is characterized in that: said first hinge comprises outer ring and inner ring; Said inner ring is provided with the inner ring rotating shaft outward, and said outer ring is provided with the outer ring rotating shaft, and said outer ring is rotationally connected through rotating shaft of said outer ring and said fixed mount; Said inner ring is rotationally connected through said inner ring rotating shaft and said outer ring, and rotating shaft of said outer ring and said inner ring rotating shaft are arranged in a crossed manner.
3. five degree of freedom parallel connection unit head according to claim 1, it is characterized in that: said first drive bevel gear is arranged on the inner of first hinge axis, and said second drive bevel gear is arranged on the inner of second hinge axis.
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| CN201210083569.XA CN102615641B (en) | 2012-03-27 | 2012-03-27 | Five-degree-of-freedom parallel power head |
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| CN103192364A (en) * | 2013-03-27 | 2013-07-10 | 北京工业大学 | Improved Delta parallel mechanism robot |
| CN103350418A (en) * | 2013-07-25 | 2013-10-16 | 天津大学 | High-speed five-freedom-degree parallel mechanical arm |
| CN104786212A (en) * | 2015-05-13 | 2015-07-22 | 哈尔滨工业大学 | Parallel mechanism capable of performing spatial apocenter movement |
| CN105364918A (en) * | 2015-12-23 | 2016-03-02 | 苏州哈工海渡工业机器人有限公司 | Screw rod-driven pseudo-4-DOF parallel robot |
| CN106695759A (en) * | 2016-12-13 | 2017-05-24 | 九江精密测试技术研究所 | Three DOF (Degree of Freedom) parallel stable platform provided with symmetrical hybrid branches |
| CN107009350A (en) * | 2017-04-28 | 2017-08-04 | 河南理工大学 | A kind of determination method of 3 PRS serial parallel mechanism equivalent mass |
| CN107053144A (en) * | 2017-06-10 | 2017-08-18 | 北京意美德自动化科技有限公司 | A kind of six degree of freedom platform structure |
| CN112549000A (en) * | 2020-12-22 | 2021-03-26 | 辰星（天津）自动化设备有限公司 | Six-axis robot moving platform and six-axis robot thereof |
| CN112549003A (en) * | 2020-12-22 | 2021-03-26 | 辰星（天津）自动化设备有限公司 | Five-axis robot moving platform and five-axis robot thereof |
| WO2022134512A1 (en) * | 2020-12-22 | 2022-06-30 | 辰星（天津）自动化设备有限公司 | Five-axis robot motion platform and five-axis robot thereof |
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