CN108890619A - A kind of novel five degree of freedom hybrid mechanism with restructural regulating device - Google Patents

Abstract

The invention belongs to the technical field of hybrid robot processing, and relates to a novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device, including a reconfigurable adjustment device, five PUS active motion branch chains with the same structure, and a middle PRPU passive motion branch chain. chain and moving platform. The reconfigurable adjustment device includes five PRR active motion branch chains with the same structure and an intermediate platform. The reconfigurable characteristics of the new five-degree-of-freedom hybrid mechanism are realized mainly through the structural inclination of the reconfigurable adjustment device; the middle platform and the moving platform are mainly connected through the PUS active motion branch chain and the middle PRPU passive motion branch chain, and the terminal dynamic The platform can realize three-dimensional movement and two-dimensional rotation, and the hybrid mechanism as a whole has a large movement stroke along the Z axis. The invention has the advantages of both the series mechanism and the parallel mechanism, and has the advantages of large working space, high rigidity, good structural symmetry, good movement flexibility, strong bearing capacity, etc., and is suitable for large complex structural components in the fields of aerospace, ships, and military industries. processing.

Description

A novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device

technical field

The invention belongs to the technical field of hybrid robot processing, and in particular relates to a novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device, which is especially suitable for occasions requiring processing such as large working space and high rigidity.

Background technique

The traditional series mechanism has been widely used in industrial production due to its advantages of large working space, flexible operation, and fast response speed. However, because its structure is a series open chain, its end manipulator is prone to cumulative errors, which reduces the motion accuracy. and the overall stiffness of the mechanism; while for the parallel mechanism, it has the advantages of high rigidity, high precision, high load capacity, small error accumulation, and easy realization of high-speed machining, but at the same time, the parallel mechanism also has the disadvantage of small working space. However, in view of the large working space and high rigidity processing requirements of large complex structural components, a single series mechanism or parallel mechanism cannot meet the processing requirements. Therefore, based on the complementary relationship between the advantages and disadvantages of the series mechanism and the parallel mechanism, the series-parallel hybrid mechanism with the advantages of both is an ideal mechanism to realize the processing of large and complex structural components.

Contents of the invention

The present invention proposes a five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device, which fully combines the characteristics of a series mechanism and a parallel mechanism, and through the introduction of a reconfigurable adjustment device and a passive branch chain, the mechanism not only The Z-axis has a large moving working space and also has high rigidity characteristics. By connecting in series with large precision gantry guide rails, it can realize large working space and high rigidity processing of large and complex structural components. It is especially suitable for the processing of large and complex structural components in aerospace, shipbuilding and military industries, and has broad engineering application prospects.

The technical scheme adopted in the present invention is:

A new five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device, including a reconfigurable adjustment device, five PUS active motion branches 1-4 with the same structure, intermediate PRPU passive motion branches 1-5 and a moving platform 1 -6;

The reconfigurable adjustment device is located on the upper part of the new five-degree-of-freedom hybrid mechanism, the moving platform 1-6 is located on the lower part of the new five-degree-of-freedom hybrid mechanism, and the middle PRPU passive motion branch chain 1- 5 is located above the moving platform 1-6, and the five PUS active motion branch chains 1-4 with the same structure are distributed around the middle PRPU passive motion branch chain 1-5;

The reconfigurable adjustment device includes a fixed platform 1-1, five PRR active motion branch chains 1-2 with the same structure and an intermediate platform 1-3;

The fixed platform 1-1 is located on the upper part of the reconfigurable adjustment device, the five PRR active motion branch chains 1-2 with the same structure are evenly distributed around the lower side of the fixed platform 1-1, and the PRR active motion branch chains 1- The lower end of 2 is connected to the middle platform 1-3 through the second R pair; the upper ends of the five PUS active motion branch chains 1-4 are respectively connected to the five PRR active motion branch chains 1-2 through the second P pair, and the lower ends Connected to the moving platform 1-6 through the S pair; the upper end of the middle PRPU passive motion branch chain 1-5 is connected to the middle platform 1-3 through the third P pair, and the lower end is connected to the moving platform 1-6;

The reconfigurable adjustment device also includes a central bevel gear 1-2-4 and five small bevel gears 1-2-5, the central bevel gear 1-2-4 is located below the positioning platform 1-1, and is connected with The center of the fixed platform 1-1 is connected; the five small bevel gears 1-2-5 are evenly distributed around the central bevel gear 1-2-4, and meshed with the central bevel gear 1-2-4; The five small bevel gears 1-2-5 are respectively connected with five PRR active motion branch chains 1-2, wherein the P pair is a moving pair, and the S pair is a spherical pair.

On the basis of the above technical solution, the PRR active motion branch chain 1-2 includes a horizontal support guide rail 1-2-1, two guide rods 1-2-3, a lead screw 1-2-2, and an R auxiliary slider 1-2-6 and PRR branch chain link 1-2-7;

The horizontal support guide rail 1-2-1 is connected with the fixed platform 1-1, and the horizontal support guide rail 1-2-1 is connected with two guide rods 1-2-3 and lead screw 1-2-2. R pair slider 1-2-6 is connected with two guide rods 1-2-3 and lead screw 1-2-2 through the first P pair; the upper end of the PRR branch chain connecting rod 1-2-7 passes through the first P pair One R pair is connected with the R pair slider 1-2-6, and the lower end is connected with the middle platform 1-3 through the second R pair; the axis of the first R pair is parallel to the axis of the second R pair, and is The axis direction of a P pair is vertical;

The bevel pinion gear 1-2-5 is connected with one end of the screw 1-2-2 provided with the keyway 1-2-2-2 through a key;

Drive the five small bevel gears 1-2-5 synchronously by driving the central bevel gear 1-2-4, and then drive the five R auxiliary sliders 1-2-5 through the five synchronously moving screw screws 1-2-2. 6 moves along the axis direction of the first P pair, and the R pair is a rotating pair.

On the basis of the above technical solution, the PUS active motion branch chain 1-4 includes a U pair of sliders 1-4-1, a symmetrical cross shaft 1-4-2 and a PUS branch chain connecting rod 1-4-3;

The U pair of sliders 1-4-1 is connected with the PRR branch chain connecting rod 1-2-7 to form the second P pair; the upper end of the PUS branch chain connecting rod 1-4-3 passes through the symmetrical cross shaft 1-4- 2. Connect with the U pair slider 1-4-1 to form the first U pair, and connect the lower end with the moving platform 1-6 to form the S pair; and the direction of the axis of the first rotating pair of the first U pair is the same as the The directions of the axes of the first R sub-axis are the same, and the direction of the axis of the second rotation sub-axis of the first U pair is perpendicular to the direction of the axis of the first rotation sub-axis of the first U pair; wherein the U pair is a universal joint.

On the basis of the above technical solution, the middle PRPU passive motion branch chain 1-5 includes two support bases 1-5-1, support guide rods, PRPU branch chain sliders 1-5-2, and upper connecting rod 1-5-1. 5-5, the lower link 1-5-6 and the asymmetrical cross shaft 1-5-7; the support guide rod includes a first support guide rod 1-5-3 and two second support guide rods 1-5 -4;

The support guide rod is connected to the intermediate platform 1-3 through the support seat 1-5-1 to form a moving guide rail, and the upper part of the PRPU branch chain slider 1-5-2 is connected to the moving guide rail to form a third P pair. The upper end of the upper connecting rod 1-5-5 is connected to the lower part of the PRPU branch chain slider 1-5-2 to form the third R pair, and the direction of the axis of the third R pair is the same as that of the third P pair. The fourth P pair is formed between the upper part of the lower link 1-5-6 and the lower part of the upper link 1-5-5, the axis direction of the fourth P pair is perpendicular to the axis direction of the third P pair, and the lower link 1 The lower part of -5-6 is connected with the moving platform 1-6 through the asymmetric cross shaft 1-5-7 to form the second U pair; in the second U pair, the first connected with the lower link 1-5-6 The axis direction of the first rotating pair and the axis direction of the third R pair are parallel to each other, and the axis direction of the second rotating pair connected to the moving platform 1-6 is perpendicular to the axis direction of the third R pair.

On the basis of the above technical solution, the upper part of one end of the horizontal support guide rail 1-2-1 is provided with a horizontal support guide rail positioning assembly shaft hole 1-2-1-1, and the fixed platform 1-1 is assembled through the horizontal support guide rail The shaft 1-1-1 passes through the horizontal support guide rail positioning assembly shaft hole 1-2-1-1, and is connected with the horizontal support guide rail 1-2-1, and the horizontal support guide rail positioning assembly shaft hole end face 1-2-1- 2 Align with the horizontal support guide rail assembly shaft end face 1-1-2 of the horizontal support guide rail assembly shaft 1-1-1, and the horizontal support guide rail 1-2-1 upper horizontal assembly surface 1-2-1-3 is aligned with The horizontal assembly end face 1-1-4 of the fixed platform at the middle and lower part of the fixed platform 1-1 is parallel;

The bottom of the two ends of the horizontal support guide rail 1-2-1 is provided with a pair of coaxial lead screw assembly holes 1-2-1-4 (wherein one lead screw assembly hole 1-2-1-4 is located at the horizontal support guide rail 1 -2-1 at one end, another lead screw assembly hole 1-2-1-4 is located at the other end of the horizontal support guide rail 1-2-1), a pair of coaxial guide rod first assembly hole 1-2- 1-5 (the first assembly hole 1-2-1-5 of one guide rod is located at one end of the horizontal support rail 1-2-1, and the first assembly hole 1-2-1-5 of the other guide rod is located at the horizontal support rail 1-2-1) and a pair of coaxial guide rod second assembly holes 1-2-1-6 (one of the guide rod first assembly holes 1-2-1-6 is located on the horizontal support guide rail 1 - one end of the guide rod 1-2-1, another guide rod first assembly hole 1-2-1-6 is located at the other end of the horizontal support guide rail 1-2-1), one end of the lead screw 1-2-2 is connected with the lead screw Assembly hole 1-2-1-4 assembly, the other end is provided with a keyway 1-2-2-2, and passes through another screw assembly hole 1-2-1-4; one of the guide rods 1-2-3 The two ends of the guide rod assembly shaft 1-2-3-1 are respectively assembled with the guide rod first assembly holes 1-2-1-5 at both ends, and the guide rod assembly shaft 1-2-1-5 of the other guide rod 1-2-3 The two ends of 2-3-1 are respectively assembled with the guide rod second assembly holes 1-2-1-6 at both ends, and the guide rod assembly end surface 1-2-3-2 of the guide rod 1-2-3 is connected with the guide rod assembly end face 1-2-3-2 of the guide rod The horizontal support guide rail assembly end face 1-2-1-7 on the outside of the horizontal support guide rail 1-2-1 is aligned; the upper part of the R auxiliary slider 1-2-6 is provided with the first assembly threaded hole 1 of the R auxiliary slider -2-6-1, the second assembly hole 1-2-6-2 of the R auxiliary slider and the third assembly hole 1-2-6-3 of the R auxiliary slider; the R auxiliary slider 1-2-6 Through the first assembly threaded hole 1-2-6-1 of the R auxiliary slider, screw into the screw thread part 1-2-2-1 of the lead screw 1-2-2, and connect with the lead screw 1-2-2, through The second assembly hole 1-2-6-2 of the R auxiliary slider penetrates a guide rod assembly shaft 1-2-3-1, and is connected with one of the guide rods 1-2-3, and is assembled through the third assembly of the R auxiliary slider Hole 1-2-6-3 penetrates another guide rod assembly shaft 1-2-3-1, and connects with another guide rod 1-2-3 to form the first P pair;

The upper end of the PRR branch chain connecting rod 1-2-7 is provided with the first assembly shaft hole 1-2-7-1 of the PRR branch chain connecting rod, and the lower part of the R pair slider 1-2-6 passes through the R pair The slider assembly shaft 1-2-6-4 passes through the first assembly shaft hole 1-2-7-1 of the PRR branch chain connecting rod, and is connected with the PRR branch chain connecting rod 1-2-7 to form the first R pair; the end face of the R auxiliary slider assembly shaft 1-2-6-4 of the R auxiliary slider assembly shaft 1-2-6-5 and the end face of the first assembly shaft hole of the PRR branch chain connecting rod 1-2-7- 2 alignment; the lower end of the PRR branch chain connecting rod 1-2-7 is provided with the second assembly shaft hole 1-2-7-3 of the PRR branch chain connecting rod, and the edge of the intermediate platform 1-3 is evenly arranged with five An intermediate platform assembly shaft 1-3-1, and pass through the intermediate platform assembly shaft 1-3-1 through the second assembly shaft hole 1-2-7-3 of the PRR branch chain connecting rod, and the PRR branch chain connecting rod 1-2-7 connection to form the second R pair, the intermediate platform assembly shaft end face 1-3-2 of the intermediate platform assembly shaft 1-3-1 and the second assembly shaft hole end face 1-2 of the PRR branch chain connecting rod -7-4 alignment.

On the basis of the above technical solution, the center of the central bevel gear 1-2-4 is provided with a central bevel gear assembly hole 1-2-4-1, and the central bevel gear assembly hole 1-2-4-1 A keyway is provided, and the fixed platform 1-1 passes through the center bevel gear assembly hole 1-2-4-1 and the center bevel gear 1-2-4 through the central bevel gear assembly shaft 1-1-3 provided with a keyway. key connection; the center of the bevel pinion gear 1-2-5 is provided with a bevel pinion gear assembly hole 1-2-5-1, and the screw 1-2-2 is provided with a keyway 1-2-2-2 One end of the bevel pinion gear passes through the assembly hole 1-2-5-1 of the pinion bevel gear and is keyed to the bevel pinion gear 1-2-5, and the tooth surface of the bevel pinion gear 1-2-4 of the center bevel gear 1- 2-4-1 meshes with the bevel pinion gear tooth surface 1-2-5-2 of the bevel pinion gear 1-2-5.

On the basis of the above technical solution, the middle of the PRR branch chain connecting rod 1-2-7 is square, and the upper part of the U pair slider 1-4-1 is provided with a square hole, and the PRR branch chain connecting rod The upper assembly surface 1-2-7-5 in the middle of 1-2-7 coincides with the first assembly surface 1-4-1-1 of the U auxiliary slider in the upper side of the U auxiliary slider 1-4-1 square hole , the left mounting surface 1-2-7-6 in the middle of the PRR branch chain connecting rod 1-2-7 and the second mounting surface of the U secondary slider on the left side in the square hole of the U secondary slider 1-4-1 1-4-1-2 overlap to form the second P pair;

The symmetrical cross shaft 1-4-2 includes the first assembly shaft 1-4-2-1 of the symmetrical cross shaft perpendicular to each other and the second assembly shaft 1-4-2-3 of the symmetrical cross shaft, and the U auxiliary slider The lower part of 1-4-1 is provided with a U auxiliary slider assembly hole 1-4-1-3, and the symmetrical cross shaft 1-4-2 passes through the first assembly shaft 1-4-2-1 of the symmetrical cross shaft The assembly hole 1-4-1-3 of the U pair of sliders is connected with the U pair of sliders 1-4-1 to form the first rotating pair of the first U pair, and the first assembly axis of the symmetrical cross axis 1-4 - The end face 1-4-2-2 of the first assembly shaft of the symmetrical cross axis of -2-1 is aligned with the end face 1-4-1-3 of the assembly hole of the U auxiliary slider; the PUS branch chain connecting rod 1-4-3 The upper end is provided with a PUS branch chain connecting rod assembly hole 1-4-3-1, and the symmetrical cross shaft 1-4-2 passes through the PUS branch chain connecting rod through the second assembly shaft 1-4-2-3 of the symmetrical cross shaft The assembly hole 1-4-3-1 is connected with the PUS branch chain connecting rod 1-4-3 to form the second rotating pair of the first U pair, and the second assembly axis of the symmetrical cross axis 1-4-2-3 The end face 1-4-2-4 of the second assembly shaft of the symmetrical cross axis is aligned with the end face 1-4-3-2 of the assembly hole end face of the PUS branch chain connecting rod;

The lower end of the PUS branch chain connecting rod 1-4-3 is provided with a PUS branch chain connecting rod S pair assembly spherical surface 1-4-3-3, and the upper periphery of the moving platform 1-6 is evenly equipped with five moving platforms The S-pair assembly spherical surface 1-6-1 is assembled and connected with five PUS branch chain connecting rod S-pair assembly spherical surfaces 1-4-3-3 respectively through the moving platform S-pair assembly spherical surface 1-6-1 to form the S-pair.

On the basis of the above-mentioned technical scheme, a square hole is provided in the middle of the intermediate platform 1-3, and bosses are respectively arranged on the outer sides of the two opposite sides of the square hole of the intermediate platform 1-3, and the bosses The upper part is provided with the first assembly hole 1-3-3 of the intermediate platform and the second assembly hole 1-3-4 of the intermediate platform; the upper part of the support seat 1-5-1 is provided with the first assembly hole 1-5- 1-1, the lower part is provided with the second assembly hole 1-5-1-2 of the support seat and the third assembly hole 1-5-1-3 of the support seat; the first support guide rod 1-5-3 The two ends of the support guide rod assembly shaft 1-5-3-1 penetrate the first assembly hole 1-5-1-1 of the support seat respectively, and are connected with the support seat 1-5-1; the first support guide rod 1-5 - The first support guide rod assembly shaft end face 1-5-3-2 of -3 is aligned with the support seat outer assembly end face 1-5-1-4 of the support seat 1-5-1; one of the second support guide rods 1- The two ends of the second support guide rod assembly shaft 1-5-4-1 of 5-4 pass through the second assembly hole 1-5-1-2 of the support base respectively, and then penetrate into the middle of the middle platform 1-3. The first assembly hole 1-3-3 of the platform is connected with the support seat 1-5-1 and the intermediate platform 1-3; the second support guide rod assembly shaft 1-5 of the other second support guide rod 1-5-4 The two ends of -4-1 pass through the third assembly hole 1-5-1-3 of the support seat respectively, and then penetrate into the second assembly hole 1-3-4 of the intermediate platform on the intermediate platform 1-3, and connect with the support seat 1-5-1, the middle platform 1-3 is connected; one of the support bases 1-5-1 is assembled on the outer side of the support base 1-5-1-4 with the middle platform 1-3, and the inner side of the boss on the side of the square hole The first assembly surface 1-3-5 of the intermediate platform coincides, the outer assembly end surface 1-5-1-4 of the support seat of the other support seat 1-5-1 is on the middle platform 1-3, and the other side of the square hole is convex The second assembly surface 1-3-6 of the intermediate platform on the inner side of the table overlaps, and the second support guide rod assembly shaft end surface 1-5-4-2 of the second support guide rod 1-5-4 is aligned with the intermediate platform 1-3 The third assembly surface 1-3-7 of the middle platform on the outside of the upper boss is aligned;

The upper part of the PRPU branch chain slider 1-5-2 is provided with the first assembly hole 1-5-2-1 of the PRPU branch chain slider, and the second assembly hole 1-5-2 of the PRPU branch chain slider is provided in the middle -2 and the third assembly hole 1-5-2-3 of the PRPU branch chain slider, the bottom is provided with the fourth assembly hole 1-5-2-4 of the PRPU branch chain slider; the first support guide rod 1-5 -3 passes through the first assembly hole 1-5-2-1 of the PRPU branch chain slider, and is connected with the PRPU branch chain slider 1-5-2; two second support guide rods 1-5-4 pass through respectively Through the second assembly hole 1-5-2-2 of the PRPU branch chain slider and the third assembly hole 1-5-2-3 of the PRPU branch chain slider, it is connected with the PRPU branch chain slider 1-5-2, Form the third P pair; the upper end of the upper link 1-5-5 passes through the square hole of the middle platform 1-3, and passes through the PRPU branch chain slider through the upper link assembly shaft 1-5-5-1 Four assembly holes 1-5-2-4 are connected with the PRPU branch chain slider to form the third R pair, the end face of the fourth assembly hole 1-5-2-5 of the PRPU branch chain slider is connected with the upper link assembly shaft 1- 5-5-1 upper link assembly shaft end face 1-5-5-2 alignment;

The center of the upper link 1-5-5 is provided with an upper link assembly hole 1-5-5-3, and the lower link assembly shaft 1-5-6-1 of the lower link 1-5-6 Penetrate through the upper connecting rod assembly hole 1-5-5-3, and connect the upper connecting rods 1-5-5 to form the fourth P pair;

The asymmetric cross shaft 1-5-7 includes a first assembly shaft 1-5-7-1 of the asymmetric cross shaft and a second assembly shaft 1-5-7-2 of the asymmetric cross shaft which are perpendicular to each other. The lower end of the connecting rod 1-5-6 is provided with a lower connecting rod assembly hole 1-5-6-2, and the middle of the moving platform 1-6 is provided with a middle assembly hole 1-6-2 of the moving platform; the asymmetric The cross shaft 1-5-7 passes through the lower connecting rod assembly hole 1-5-6-2 through the first assembly shaft 1-5-7-1 of the asymmetrical cross shaft, and is connected with the lower connecting rod 1-5-6. The second assembly shaft 1-5-7-2 of the asymmetric cross shaft passes through the middle assembly hole 1-6-2 of the moving platform, and is connected with the moving platform 1-6 to form a second U pair; the asymmetric cross shaft 1- The center line 1-5-7-3 of the asymmetrical cross axis of 5-7, the axis of the lower connecting rod 1-5-6 and the symmetrical center line 1-6-3 of the moving platform of the moving platform 1-6 are coaxial.

On the basis of the above technical scheme, when the position of the R auxiliary slider 1-2-6 on the lead screw 1-2-2 is fixed, the position of the PRR branch chain connecting rod 1-2-7 is fixed, and the middle platform 1- The position of 3 is fixed, the reconfigurable adjustment device is fixed, the PRR branch chain link 1-2-7 is used as the fixed platform for the PUS active movement branch chain 1-4 movement, and the middle platform 1-3 is used as the middle PRPU passive movement branch chain 1- 5 fixed platform for movement;

Through the R auxiliary slider 1-2-6 moving on the lead screw 1-2-2, adjust the angle between the horizontal support guide rail 1-2-1 and the PRR branch chain connecting rod 1-2-7 (reconfigurable Structural inclination of the adjustment device), the movement of the PRR branch chain connecting rod 1-2-7 drives the movement of the middle platform 1-3, that is, changing the fixed movement of the PUS active movement branch chain 1-4 and the middle PRPU passive movement branch chain 1-5 The position of the platform realizes the reconfigurable characteristics of the novel five-degree-of-freedom hybrid mechanism.

On the basis of the above technical solution, the novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device also includes a processing head 1-7, which is located below the moving platform 1-6 and is connected with The moving platform 1-6 is connected; the screw 1-2-2 is a ball screw.

The reconfigurable adjustment device of the present invention only has the degree of freedom to move along the Z axis (vertical direction), five PRR active motion branch chains 1-2 with the same structure drive five small cones through the central bevel gear 1-2-4 The gears 1-2-5 realize synchronous movement, the axis of the first R pair in the PRR active motion branch chain 1-2 is parallel to the axis of the second R pair, and perpendicular to the axis direction of the first P pair, the five structures The same PRR active motion branches are evenly distributed around the fixed platform 1-1, and the reconfigurable adjustment device is a 5PRR parallel mechanism.

The intermediate PRPU passive motion branch chain 1-5 connecting the intermediate platform 1-3 and the moving platform 1-6 according to the present invention can improve the stiffness of the hybrid mechanism, and constrain the freedom of the moving platform 1-6 to rotate around the Z axis, And the third P pair is a passive movement, the axis direction of the third R pair is parallel to the axis direction of the third P pair, the axis direction of the fourth P pair is perpendicular to the axis direction of the third P pair, and the first The axis of the first revolving pair is parallel to the axis direction of the third R pair. The middle PRPU passive kinematic branch chain 1-5 and five PUS active kinematic branch chains 1-4 together form a five-degree-of-freedom 5PUS-PRPU parallel mechanism.

The new five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device proposed by the present invention has a large working space while ensuring the overall rigidity of the mechanism, and can meet the requirements of large working space and high rigidity of large complex structural components, and realize Five-degree-of-freedom movement of processing heads 1-7 (limited movement around Z-axis rotation).

The specific description of the beneficial technical effect is as follows:

(1) The mechanism has good symmetry, compact structure, simple processing and assembly, and easy to realize modularization;

(2) It has reconfigurable characteristics, and the movement of the reconfigurable adjustment device can change the structural inclination angle of the 5PRR parallel mechanism, so that the parallel mechanism has reconfigurable characteristics;

(3) Large working space, through the motion superposition of the reconfigurable adjustment device and the 5PUS-PRPU parallel mechanism, a large movement along the Z-axis direction can be realized;

(4) High stiffness. The introduction of the intermediate PRPU passive motion branch chain between the reconfigurable adjustment device and the 5PUS-PRPU parallel mechanism can effectively improve the overall stiffness of the mechanism.

Description of drawings

The present invention has following accompanying drawing:

Figure 1 is a schematic structural diagram of a five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device in the present invention

Fig. 2 is fixed platform 1-1 structural representation of the present invention

Fig. 3 is a schematic diagram of the overall structure of the PRR active motion branch chain 1-2 of the present invention

Fig. 4 is the structural representation of horizontal support guide rail 1-2-1 of the present invention

Fig. 5 is the structural representation of lead screw 1-2-2 of the present invention

Fig. 6 is the structural representation of guide rod 1-2-3 of the present invention

Fig. 7 is the structural representation of central bevel gear 1-2-4 of the present invention

Fig. 8 is the structural representation of pinion bevel gear 1-2-5 of the present invention

Fig. 9 is a structural schematic diagram of the R secondary slider 1-2-6 of the present invention

Fig. 10 is a schematic structural view of the PRR branched chain connecting rod 1-2-7 of the present invention

Fig. 11 is the structure schematic diagram of intermediate platform 1-3 of the present invention

Figure 12 is a schematic diagram of the overall structure of the PUS active motion branch chain 1-4 of the present invention

Fig. 13 is a structural schematic diagram of the U auxiliary slider 1-4-1 of the present invention

Fig. 14 is a structural schematic diagram of the symmetrical cross shaft 1-4-2 of the present invention

Figure 15 is a schematic structural view of the PUS branched chain connecting rod 1-4-3 of the present invention

Figure 16 is a schematic diagram of the overall structure of the middle PRPU passive motion branch chain 1-5 of the present invention

Figure 17 is a schematic structural view of the support base 1-5-1 of the present invention

Fig. 18 is a structural schematic diagram of the PRPU branch chain slider 1-5-2 of the present invention

Fig. 19 is a structural schematic diagram of the first support guide rod 1-5-3 of the present invention

Fig. 20 is a schematic structural view of the second support guide rod 1-5-4 of the present invention

Figure 21 is a schematic structural view of the upper link 1-5-5 of the present invention

Fig. 22 is a structural schematic diagram of the lower connecting rod 1-5-6 of the present invention

Fig. 23 is a schematic structural diagram of the asymmetric cross shaft 1-5-7 of the present invention

Figure 24 is a schematic structural view of the moving platform 1-6 of the present invention

Reference signs:

1-1 fixed platform, 1-2PRR active motion branch chain, 1-3 intermediate platform, 1-4PUS active motion branch chain, 1-5 middle PRPU passive motion branch chain, 1-6 moving platform, 1-7 processing head, 1-1-1 horizontal support guide rail assembly shaft, 1-1-2 horizontal support guide rail assembly shaft end face, 1-1-3 central bevel gear assembly shaft, 1-1-4 fixed platform horizontal assembly end face, 1-2-1 Horizontal support rail, 1-2-2 lead screw, 1-2-3 guide rod, 1-2-4 central bevel gear, 1-2-5 small bevel gear, 1-2-6R auxiliary slider, 1-2 -7PRR branch chain connecting rod, 1-2-1-1 horizontal support guide rail positioning assembly shaft hole, 1-2-1-2 horizontal support guide rail positioning assembly shaft hole end face, 1-2-1-3 horizontal assembly surface, 1 -2-1-4 lead screw assembly hole, 1-2-1-5 guide rod first assembly hole, 1-2-1-6 guide rod second assembly hole, 1-2-1-7 horizontal support guide rail assembly End face, 1-2-2-1 lead screw thread, 1-2-2-2 keyway; 1-2-3-1 guide rod assembly shaft, 1-2-3-2 guide rod assembly end face, 1-2 -4-1 center bevel gear assembly hole, 1-2-4-2 center bevel gear tooth surface, 1-2-5-1 small bevel gear assembly hole, 1-2-5-2 small bevel gear tooth surface, 1 -2-6-1R first assembly hole of auxiliary slider, 1-2-6-2R second assembly hole of auxiliary slider, 1-2-6-3R third assembly hole of auxiliary slider, 1-2-6- 4R sub-slider assembly shaft, 1-2-6-5R sub-slider assembly shaft end face, 1-2-7-1PRR branch chain connecting rod first assembly shaft hole, 1-2-7-2PRR branch chain connecting rod No. One assembly shaft hole end face, 1-2-7-3PRR branch chain connecting rod second assembly shaft hole, 1-2-7-4PRR branch chain connecting rod second assembly shaft hole end face, 1-2-7-5 upper side Assembly surface, 1-2-7-6 left assembly surface, 1-3-1 middle platform assembly shaft, 1-3-2 middle platform assembly shaft end face, 1-3-3 middle platform first assembly hole, 1- 3-4 the second assembly hole of the intermediate platform, 1-3-5 the first assembly surface of the intermediate platform, 1-3-6 the second assembly surface of the intermediate platform, 1-3-7 the third assembly surface of the intermediate platform, 1-4- 1U auxiliary slider, 1-4-2 symmetrical cross shaft, 1-4-3PUS branch chain connecting rod; 1-4-1-1U auxiliary slider first assembly surface, 1-4-1-2U auxiliary slider second Second assembly surface, 1-4-1-3U auxiliary slider assembly hole, 1-4-1-4U auxiliary slider assembly hole end face, 1-4-2-1 symmetrical cross axis first assembly axis, 1-4- 2-2 symmetrical cross shaft first assembly shaft end face, 1-4-2-3 symmetrical cross shaft second assembly shaft end face, 1-4-2-4 symmetrical cross shaft second assembly shaft end face, 1-4-3-1PUS Branch chain connecting rod assembly hole, 1-4-3-2PUS branch chain connecting rod assembly hole end face, 1-4-3-3PUS branch chain connecting rod S pair assembly spherical surface, 1-5-1 support seat, 1-5- 2PRPU branch chain slider, 1-5-3 first support guide rod, 1-5-4 second support guide rod, 1-5-5 upper link, 1-5-6 lower link, 1-5-7 asymmetric cross shaft, 1-5-1-1 support seat first Assembly hole, 1-5-1-2 support seat second assembly hole, 1-5-1-3 support seat third assembly hole, 1-5-1-4 support seat outer assembly end face, 1-5-2- 1PRPU branch chain slider first assembly hole, 1-5-2-2PRPU branch chain slider second assembly hole, 1-5-2-3PRPU branch chain slider third assembly hole, 1-5-2-4PRPU branch Chain slider fourth assembly hole, 1-5-2-5 PRPU branch chain slider fourth assembly hole end face, 1-5-3-1 first support guide rod assembly shaft, 1-5-3-2 first support Guide rod assembly shaft end face, 1-5-4-1 second support guide rod assembly shaft, 1-5-4-2 second support guide rod assembly shaft end face, 1-5-5-1 upper link assembly shaft, 1-5-5-2 upper link assembly shaft end face, 1-5-5-3 upper link assembly hole, 1-5-6-1 lower link assembly shaft, 1-5-6-2 lower link Assembling hole, 1-5-7-1 asymmetrical cross axis first assembly axis, 1-5-7-2 asymmetrical cross axis second assembly axis, 1-5-7-3 asymmetrical cross axis center line, 1 -6-1 moving platform S sub-assembly spherical surface, 1-6-2 middle assembly hole of moving platform, 1-6-3 symmetrical center line of moving platform.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

A new five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device, as shown in Figure 1:

A new five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device, including a fixed platform 1-1 of the reconfigurable adjustment device (as shown in Figure 2), and a PRR active motion branch chain 1-1 of the reconfigurable adjustment device. 2. The middle platform 1-3 of the reconfigurable adjustment device, the PUS active movement branch chain 1-4, the middle PRPU passive movement branch chain 1-5, the moving platform 1-6 and the processing head 1-7.

As shown in Figure 3-11, they are PRR active motion branch chain 1-2, horizontal support guide rail 1-2-1, lead screw 1-2-2, guide rod 1-2-3, central bevel gear 1- 2-4. Structural schematic diagram of small bevel gear 1-2-5, R auxiliary slider 1-2-6, PRR branch chain connecting rod 1-2-7 and intermediate platform 1-3.

The connection method is as follows: the horizontal support rail 1-2-1 locates the assembly shaft hole 1-2-1-1 through the horizontal support rail, the horizontal support rail assembly shaft hole end face 1-2-1-2 and the horizontal assembly surface 1-2 -1-3 is coaxial and aligned with the horizontal support guide rail assembly axis 1-1-1 of the fixed platform 1-1, the horizontal support guide rail assembly shaft end face 1-1-2 and the fixed platform horizontal assembly end face 1-1-4 respectively and parallel assembly.

Assemble the threaded part 1-2-2-1 of the lead screw 1-2-2 with the first assembly threaded hole 1-2-6-1 of the R sub-slider 1-2-6 of the R sub-slider , assemble the two ends of the lead screw 1-2-2 with the lead screw assembly hole 1-2-1-4 of the horizontal support guide rail 1-2-1.

The guide rod assembly shaft 1-2-3-1 of the two guide rods 1-2-3 is respectively connected with the second assembly hole 1-2-6-2 and R of the R sub-slider of the R sub-slider 1-2-6. The third assembly hole 1-2-6-3 of the auxiliary slider is assembled, and is respectively connected with the first assembly hole 1-2-1-5 of the guide rod of the horizontal support guide rail 1-2-1, and the second assembly hole 1 of the guide rod. -2-1-6 for assembly, while the guide rod assembly end face 1-2-3-2 of the guide rod 1-2-3 and the horizontal support guide rail assembly end face 1-2-1 of the horizontal support guide rail 1-2-1 -7 alignment.

Cooperate the central bevel gear assembly hole 1-2-4-1 of the central bevel gear 1-2-4 with the central bevel gear assembly shaft 1-1-3 of the fixed platform 1-1 through the key to realize the central bevel gear 1- 2-4 positioning, and assemble the small bevel gear assembly hole 1-2-5-1 of the small bevel gear 1-2-5 with the keyway 1-2-2-2 of the lead screw 1-2-2 through the key , the small bevel gear tooth surface 1-2-5-2 cooperates with the central bevel gear tooth surface 1-2-4-2 to realize the drive of the central bevel gear 1-2-4 to the small bevel gear 1-2-5 , and finally realize the movement of the R pair slider 1-2-6 along the axis direction of the first P pair;

R sub-slider assembly shaft 1-2-6-4 of R sub-slider 1-2-6, R sub-slider assembly shaft end face 1-2-6-5 and PRR branch chain connecting rod 1-2-7 respectively The first assembly shaft hole 1-2-7-1 of the PRR branch chain connecting rod and the end face 1-2-7-2 of the first assembly shaft hole of the PRR branch chain connecting rod are coaxially and alignedly assembled to form the first R pair.

The second assembly shaft hole 1-2-7-3 of the PRR branch chain connecting rod 1-2-7, the end face of the second assembly shaft hole 1-2-7-4 of the PRR branch chain connecting rod and the intermediate platform The assembly axis 1-3-1 of the intermediate platform of 1-3 and the end surface of the assembly axis 1-3-2 of the intermediate platform are assembled coaxially and aligned respectively to form the second R pair; similarly, the remaining four PRR active motion branch chains 1 -2 Connect as above.

As shown in Figure 12-Figure 15 and Figure 24, they are PUS active motion branch chain 1-4, U auxiliary slider 1-4-1, symmetrical cross shaft 1-4-2, and PUS branch chain connecting rod 1-4 -3 and the schematic diagram of the structure of the moving platform 1-6.

The connection method is as follows: the U sub-slider 1-4-1 is connected to the PRR through the first assembly surface 1-4-1-1 of the U sub-slider and the second assembly surface 1-4-1-2 of the U sub-slider. The upper assembly surface 1-2-7-5 and the left assembly surface 1-2-7-6 of the branch chain connecting rod 1-2-7 are assembled to form the second P pair; through the symmetrical cross axis 1-4- The first assembly shaft 1-4-2-1 of the symmetrical cross shaft of 2, the end face 1-4-2-2 of the first assembly shaft of the symmetrical cross shaft are respectively connected with the U sub-slider assembly holes of the U sub-slider 1-4-1 1-4-1-3, U auxiliary slider assembly hole end face 1-4-1-4 fit, symmetrical cross axis 1-4-2, symmetrical cross axis second assembly axis 1-4-2-3, symmetrical The end face 1-4-2-4 of the second assembly shaft of the cross shaft is respectively connected with the PUS branch chain connecting rod assembly hole 1-4-3-1 of the PUS branch chain connecting rod 1-4-3, and the end face of the PUS branch chain connecting rod assembly hole The cooperation of 1-4-3-2 forms the first U pair;

The PUS branch chain connecting rod S pair assembly spherical surface 1-4-3-3 of the PUS branch chain connecting rod 1-4-3 cooperates with the moving platform S pair assembly spherical surface 1-6-1 of the moving platform 1-6 to form an S vice; in the same way, the remaining four PUS active motion branch chains 1-4 are connected in the above-mentioned manner.

As shown in Figures 16-23, they are the middle PRPU passive motion branch chain 1-5, the support seat 1-5-1, the PRPU branch chain slider 1-5-2, and the first support guide rod 1-5-3 1. The structural schematic diagram of the second support guide rod 1-5-4, the upper connecting rod 1-5-5, the lower connecting rod 1-5-6 and the asymmetrical cross shaft 1-5-7.

The connection method is as follows: the second assembly hole 1-5-1-2 of the support seat of one of the support seats 1-5-1, the third assembly hole 1-5-1-3 of the support seat and the outer assembly end surface of the support seat 1- 5-1-4 respectively cooperate with the first assembly hole 1-3-3 of the intermediate platform, the second assembly hole 1-3-4 of the intermediate platform and the first assembly surface 1-3-5 of the intermediate platform of the intermediate platform 1-3 , the second assembly hole 1-5-1-2 of the support seat of the other support seat 1-5-1, the third assembly hole 1-5-1-3 of the support seat and the outer assembly end surface of the support seat 1-5-1- 4 Cooperate with the first assembly hole 1-3-3 of the intermediate platform, the second assembly hole 1-3-4 of the intermediate platform and the second assembly surface 1-3-6 of the intermediate platform of the intermediate platform 1-3 respectively; The first support guide rod assembly shaft 1-5-3-1 of the support guide rod 1-5-3, the second support guide rod assembly shaft 1-5-4- of the two second support guide rods 1-5-4 1 The first assembly hole 1-5-1-1 of the support seat, the second assembly hole 1-5-1-2 of the support seat, and the third assembly hole 1-5-1 of the support seat 1-5-1 respectively -3, and at the same time respectively with the first assembly hole 1-5-2-1 of the PRPU branch chain slider of the PRPU branch chain slider 1-5-2, and the second assembly hole 1-5-1 of the PRPU branch chain slider 2-2. The third assembly hole 1-5-2-3 of the PRPU branch chain slider forms a coaxial fit, and the first support guide rod assembly shaft end face 1-5-3 of the first support guide rod 1-5-3 -2. The second support guide rod assembly shaft end surface 1-5-4-2 of the second support guide rod 1-5-4 is respectively assembled with the support seat outer surface 1-5-1- of the support seat 1-5-1 4. The third assembly surface 1-3-7 of the intermediate platform of the intermediate platform 1-3 overlaps to form the third P pair, and finally realizes the movement of the PRPU branch chain slider 1-5-2 along the axis direction of the third P pair; The upper connecting rod assembly shaft 1-5-5-1 of the upper connecting rod 1-5-5, the end face 1-5-5-2 of the upper connecting rod assembly shaft and the PRPU support of the PRPU branch chain slider 1-5-2 respectively The fourth assembly hole 1-5-2-4 of the chain slider and the end face 1-5-2-5 of the fourth assembly hole of the PRPU branch chain slider are assembled coaxially and aligned to form the third R pair; the lower connecting rod 1- The lower link assembly shaft 1-5-6-1 of 5-6 is coaxially matched with the upper link assembly hole 1-5-5-3 of the upper link 1-5-5 to form the fourth P pair; and the lower The axis of the lower link assembly shaft 1-5-6-1 of the connecting rod 1-5-6 is parallel to the axis of the upper link assembly shaft 1-5-5-1 of the upper link 1-5-5;

The asymmetric cross shaft first assembly shaft 1-5-7-1 of the asymmetric cross shaft 1-5-7 is coaxially matched with the lower link assembly hole 1-5-6-2 of the lower link 1-5-6 , and the axis of the lower link assembly shaft 1-5-6-1 of the lower link 1-5-6 coincides with the asymmetric cross axis centerline 1-5-7-3 of the asymmetric cross axis 1-5-7 ; Simultaneously, the second assembly shaft 1-5-7-2 of the asymmetric cross shaft of the asymmetric cross shaft 1-5-7 is coaxially matched with the middle assembly hole 1-6-2 of the moving platform of the moving platform 1-6, and the moving platform The symmetrical centerline 1-6-3 of the moving platform of 1-6 coincides with the asymmetrical cross axis centerline 1-5-7-3 to form the second U pair.

Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, on the basis of the above description, they can also make It is not possible to exhaustively list all the embodiments here, and any obvious changes or changes derived from the technical solutions of the present invention are still within the scope of protection of the present invention.

The content not described in detail in this specification belongs to the prior art known to those skilled in the art.

Claims (10)

1. A novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device is characterized in that it includes: a reconfigurable adjustment device, five PUS active motion branch chains (1-4) with the same structure, and a middle PRPU passive motion Branch chain (1-5) and moving platform (1-6); The reconfigurable adjustment device is located on the upper part of the new five-degree-of-freedom hybrid mechanism, the moving platform (1-6) is located on the lower part of the new five-degree-of-freedom hybrid mechanism, and the middle PRPU passive motion branch chain (1-5) is located above the moving platform (1-6), and the five PUS active kinematic branch chains (1-4) with the same structure are distributed around the middle PRPU passive kinematic branch chain (1-5); The reconfigurable adjustment device includes a fixed platform (1-1), five PRR active motion branch chains (1-2) and an intermediate platform (1-3) with the same structure; The fixed platform (1-1) is located on the upper part of the reconfigurable adjustment device, and the five PRR active motion branch chains (1-2) with the same structure are evenly distributed around the lower side of the fixed platform (1-1), and the PRR The lower end of the active motion branch chain 1-2 is connected to the middle platform 1-3 through the second R pair; the upper ends of the five PUS active motion branch chains (1-4) are respectively actively moved with the five PRRs through the second P pair The branch chain (1-2) is connected, and the lower end is connected with the moving platform (1-6) through the S pair; the upper end of the middle PRPU passive motion branch chain (1-5) is connected with the middle platform (1-3) through the third P pair ) is connected, and the lower end is connected with the moving platform (1-6); The reconfigurable adjustment device also includes a central bevel gear (1-2-4) and five small bevel gears (1-2-5), and the central bevel gear (1-2-4) is located on the fixed platform (1 -1) and connected to the center of the fixed platform (1-1); the five small bevel gears (1-2-5) are evenly distributed around the central bevel gear (1-2-4) , and meshed with the central bevel gear (1-2-4); the five small bevel gears (1-2-5) are respectively connected with five PRR active motion branch chains (1-2), wherein the P pair is a moving pair , the S pair is a spherical pair. 2. The novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device as claimed in claim 1, wherein the PRR active motion branch chain (1-2) includes a horizontal support rail (1-2-1 ), two guide rods (1-2-3), lead screw (1-2-2), R auxiliary slider (1-2-6) and PRR branch chain connecting rod (1-2-7); The horizontal support guide rail (1-2-1) is connected with the fixed platform (1-1), and the horizontal support guide rail (1-2-1) is connected with two guide rods (1-2-3), leading screw ( 1-2-2) connection, the R auxiliary slider (1-2-6) is connected with two guide rods (1-2-3) and lead screw (1-2-2) through the first P pair; The upper end of the PRR branch chain connecting rod (1-2-7) is connected with the R pair slider (1-2-6) through the first R pair, and the lower end is connected with the middle platform (1-3) through the second R pair ; The axis of the first R pair is parallel to the axis of the second R pair, and perpendicular to the axis direction of the first P pair; The bevel pinion gear (1-2-5) is connected to one end of the screw (1-2-2) provided with the keyway (1-2-2-2) through a key; Drive the five small bevel gears (1-2-5) synchronously by driving the central bevel gear (1-2-4), and then drive five R pairs respectively through the five synchronously moving lead screws (1-2-2) The slider (1-2-6) moves along the axis direction of the first P pair, wherein the R pair is a rotating pair. 3. The novel five-degree-of-freedom hybrid mechanism with reconfigurable adjusting device as claimed in claim 2, characterized in that, the PUS active motion branch chain (1-4) comprises a U pair of slide blocks (1-4- 1), symmetrical cross shaft (1-4-2) and PUS branch chain connecting rod (1-4-3); The U-pair slider (1-4-1) is connected with the PRR branch chain connecting rod (1-2-7) to form the second P pair; the upper end of the PUS branch chain connecting rod (1-4-3) passes through the symmetrical The cross shaft (1-4-2) is connected with the U pair slider (1-4-1) to form the first U pair, and the lower end is connected to the moving platform (1-6) to form the S pair; and the first U pair The direction of the axis of the first rotary pair is the same as the direction of the axis of the first R secondary, and the direction of the axis of the second rotary pair of the first U pair is perpendicular to the direction of the axis of the first rotary pair of the first U pair ; Among them, the U pair is the universal joint. 4. The novel five-degree-of-freedom hybrid mechanism with reconfigurable adjustment device as claimed in claim 3, characterized in that, the middle PRPU passive motion branch chain (1-5) comprises two supporting seats (1-5 -1), support guide rod, PRPU branch chain slider (1-5-2), upper link (1-5-5), lower link (1-5-6) and asymmetric cross shaft (1- 5-7); the support guide rods include a first support guide rod (1-5-3) and two second support guide rods (1-5-4); The support guide rod is connected to the intermediate platform (1-3) through the support base (1-5-1) to form a moving guide rail, and the upper part of the PRPU branch chain slider (1-5-2) is connected to the moving guide rail to form a The third P pair, the upper end of the upper link (1-5-5) is connected to the lower part of the PRPU branch chain slider (1-5-2), forming the third R pair, and the direction of the third R auxiliary axis The same as the axis direction of the third P pair, the fourth P pair is formed between the upper part of the lower link (1-5-6) and the lower part of the upper link (1-5-5), and the axis direction of the fourth P pair Perpendicular to the axis direction of the third P pair, the lower part of the lower connecting rod (1-5-6) is connected to the moving platform (1-6) through an asymmetrical cross shaft (1-5-7) to form the second U pair; In the second U pair, the axis direction of the first rotating pair connected to the lower link (1-5-6) and the axis direction of the third R pair are parallel to each other, and the axis direction of the first rotating pair connected to the moving platform (1-6) The axis directions of the two revolving pairs and the axis direction of the third R pair are perpendicular to each other. 5. The novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device as claimed in claim 4, wherein the upper part of one end of the horizontal support guide rail (1-2-1) is provided with a horizontal support guide rail positioning assembly shaft hole (1-2-1-1), the fixed platform (1-1) passes through the horizontal support rail assembly shaft (1-1-1) through the horizontal support rail positioning assembly shaft hole (1-2- 1-1), connected with the horizontal support guide rail (1-2-1), the level of the horizontal support guide rail positioning assembly axis hole end face (1-2-1-2) and the horizontal support guide rail assembly axis (1-1-1) The end face (1-1-2) of the assembly axis of the support guide rail is aligned, and the horizontal assembly surface (1-2-1-3) on the upper part of the horizontal support guide rail (1-2-1) is aligned with the fixed platform (1-1 ) The horizontal assembly end face (1-1-4) of the fixed platform at the lower middle part is parallel; The lower parts of the two ends of the horizontal support guide rail (1-2-1) are provided with a pair of coaxial lead screw assembly holes (1-2-1-4), a pair of coaxial guide rod first assembly holes (1 -2-1-5) and a pair of coaxial guide rod second assembly holes (1-2-1-6), one end of the screw (1-2-2) and the screw assembly hole (1 -2-1-4) assembly, the other end is provided with a keyway (1-2-2-2), and passes through another screw assembly hole (1-2-1-4); one of the guide rods (1- 2-3) The two ends of the guide rod assembly shaft (1-2-3-1) are respectively assembled with the first assembly hole (1-2-1-5) of the guide rod at both ends, and the other guide rod (1-2 -3) The two ends of the guide rod assembly shaft (1-2-3-1) are respectively assembled with the guide rod second assembly holes (1-2-1-6) at both ends, and the guide rod (1-2- 3) The guide rod assembly end face (1-2-3-2) is aligned with the horizontal support guide rail assembly end face (1-2-1-7) outside the horizontal support guide rail (1-2-1); the R The upper part of the auxiliary slider (1-2-6) is provided with the first assembly threaded hole (1-2-6-1) of the R auxiliary slider and the second assembly hole (1-2-6-2) of the R auxiliary slider and the third assembly hole (1-2-6-3) of the R auxiliary slider; the R auxiliary slider (1-2-6) passes through the first assembly threaded hole of the R auxiliary slider (1-2-6-1 ) into the threaded part (1-2-2-1) of the lead screw (1-2-2), connected with the lead screw (1-2-2), through the second assembly hole (1 -2-6-2) penetrate a guide rod assembly shaft (1-2-3-1), connect with one of the guide rods (1-2-3), pass through the third assembly hole of the R auxiliary slider (1- 2-6-3) penetrate another guide rod assembly shaft (1-2-3-1), and connect with another guide rod (1-2-3) to form the first P pair; The upper end of the PRR branch chain connecting rod (1-2-7) is provided with the first assembly shaft hole (1-2-7-1) of the PRR branch chain connecting rod, and the R auxiliary slider (1-2-6 ) through the R auxiliary slider assembly shaft (1-2-6-4) through the first assembly shaft hole (1-2-7-1) of the PRR branch chain connecting rod, and the PRR branch chain connecting rod ( 1-2-7) connection to form the first R pair; the R pair slider assembly shaft end face (1-2-6-5) of the R pair slider assembly shaft (1-2-6-4) is connected to the PRR The end face (1-2-7-2) of the first assembly shaft hole of the branch chain connecting rod is aligned; the lower end of the PRR branch chain connecting rod (1-2-7) is provided with the second assembly shaft hole of the PRR branch chain connecting rod ( 1-2-7-3), the edge of the intermediate platform (1-3) is evenly distributed with five intermediate platform assembly shafts (1-3-1), and through the intermediate platform assembly shafts (1-3-1) Pass through the second assembly shaft hole (1-2-7-3) of the PRR branch chain connecting rod, and connect with the PRR branch chain connecting rod (1-2-7) to form the second R pair, and the intermediate platform is assembled The middle platform assembly shaft end face (1-3-2) of the shaft (1-3-1) is aligned with the end face (1-2-7-4) of the second assembly shaft hole of the PRR branch chain link. 6. the novel five-degree-of-freedom hybrid mechanism with reconfigurable adjusting device as claimed in claim 5, is characterized in that, the center of described central bevel gear (1-2-4) is provided with central bevel gear assembly hole ( 1-2-4-1), the central bevel gear assembly hole (1-2-4-1) is provided with a keyway, and the fixed platform (1-1) passes through the central bevel gear assembly shaft provided with a keyway ( 1-1-3) pass through the central bevel gear assembly hole (1-2-4-1) and carry out key connection with the central bevel gear (1-2-4); the small bevel gear (1-2-5) A small bevel gear assembly hole (1-2-5-1) is provided in the center, and one end of the screw (1-2-2) provided with a keyway (1-2-2-2) passes through the small cone The gear assembly hole (1-2-5-1) is keyed to the pinion bevel gear (1-2-5), and the center bevel gear tooth surface (1-2 of the center bevel gear (1-2-4) -4-1) Mesh with the bevel pinion tooth surface (1-2-5-2) of the bevel pinion gear (1-2-5). 7. The novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device as claimed in claim 6, wherein the center of the PRR branch chain link (1-2-7) is square, and the U The upper part of the auxiliary slider (1-4-1) is provided with a square hole, and the upper side assembly surface (1-2-7-5) in the middle of the PRR branch chain connecting rod (1-2-7) is connected with the U auxiliary slider The first assembly surface (1-4-1-1) of the U-slider on the upper side of the square hole of the block (1-4-1) coincides, and the left side in the middle of the PRR branch chain connecting rod (1-2-7) The side mounting surface (1-2-7-6) coincides with the second mounting surface (1-4-1-2) of the U secondary slider (1-4-1-2) on the left side in the square hole of the U secondary slider (1-4-1), forming Second P Deputy; The symmetrical cross axis (1-4-2) includes a first assembly axis (1-4-2-1) of a symmetrical cross axis and a second assembly axis (1-4-2-3) of a symmetrical cross axis perpendicular to each other, The lower part of the U-slider (1-4-1) is provided with a U-slider assembly hole (1-4-1-3), and the symmetrical cross shaft (1-4-2) passes through the symmetrical cross shaft An assembly shaft (1-4-2-1) passes through the assembly hole (1-4-1-3) of the U pair of sliders, and is connected with the U pair of sliders (1-4-1), forming the first U pair of The first rotating pair, the end face of the first assembly shaft of the symmetrical cross shaft (1-4-2-1) and the end face of the first assembly shaft of the symmetrical cross shaft (1-4-2-2) and the end face of the assembly hole of the U pair of sliders (1-4-1-3) alignment; the upper end of the PUS branch chain connecting rod (1-4-3) is provided with a PUS branch chain connecting rod assembly hole (1-4-3-1), and the symmetrical cross The shaft (1-4-2) passes through the second assembly shaft (1-4-2-3) of the symmetrical cross shaft and passes through the assembly hole (1-4-3-1) of the PUS branch chain connecting rod, and connects with the PUS branch chain connecting rod (1-4-3) connection to form the second rotating pair of the first U pair, the end face of the second assembly axis of the symmetrical cross axis (1-4-2-3) of the symmetrical cross axis second assembly axis (1 -4-2-4) is aligned with the end face of the PUS branch chain connecting rod assembly hole (1-4-3-2); The lower end of the PUS branch chain connecting rod (1-4-3) is provided with a PUS branch chain connecting rod S pair assembly spherical surface (1-4-3-3), and the upper periphery of the moving platform (1-6) is Five moving platform S sub-assembly spheres (1-6-1) are arranged, and through the moving platform S sub-assembly spheres (1-6-1), respectively connect with five PUS branch chain connecting rod S sub-assembly spheres (1-4 -3-3) Assembling and connecting to form an S pair. 8. the novel five-degree-of-freedom hybrid mechanism with reconfigurable adjusting device as claimed in claim 7, is characterized in that, square hole is provided in the middle of described intermediate platform (1-3), in described intermediate platform ( 1-3) Bosses are respectively provided above the outer sides of the two opposite sides of the square hole, and the upper part of the bosses is provided with the first assembly hole (1-3-3) of the middle platform and the second assembly hole (1-3-3) of the middle platform. -4); The upper part of the support base (1-5-1) is provided with the first assembly hole (1-5-1-1) of the support base, and the lower part is provided with the second assembly hole of the support base (1-5-1 -2) and the third assembly hole (1-5-1-3) of the support seat; the first support guide rod assembly shaft (1-5-3-1) of the first support guide rod (1-5-3) ) respectively penetrate the first assembly hole (1-5-1-1) of the support seat, and connect with the support seat (1-5-1); the first support guide rod (1-5-3) first The assembly shaft end face (1-5-3-2) of the support guide rod is aligned with the assembly end face (1-5-1-4) outside the support base of the support seat (1-5-1); one of the second support guide rods ( 1-5-4) The two ends of the second support guide rod assembly shaft (1-5-4-1) pass through the second assembly hole (1-5-1-2) of the support base respectively, and then penetrate into the middle The first assembly hole (1-3-3) of the intermediate platform on the platform (1-3) links to each other with the support seat (1-5-1) and the intermediate platform (1-3); another second support guide rod ( 1-5-4) The two ends of the second support guide rod assembly shaft (1-5-4-1) pass through the third assembly hole (1-5-1-3) of the support base respectively, and then penetrate into the middle The second assembly hole (1-3-4) of the middle platform on the platform (1-3) is connected with the support seat (1-5-1) and the middle platform (1-3); one of the support seats (1-5 -1) The outer assembly end surface (1-5-1-4) of the support seat coincides with the first assembly surface (1-3-5) of the intermediate platform on the inner side of the boss on one side of the square hole on the intermediate platform (1-3) , the outer side of the support seat (1-5-1) is assembled with the end face (1-5-1-4) and the middle platform (1-3), and the middle platform on the inner side of the boss on the other side of the square hole is the second The assembly surface (1-3-6) coincides, and the second support guide rod assembly shaft end face (1-5-4-2) of the second support guide rod (1-5-4) and the intermediate platform (1-3 ) is aligned with the third assembly surface (1-3-7) of the middle platform on the outer side of the upper boss; The top of the PRPU branched chain slider (1-5-2) is provided with the first assembly hole (1-5-2-1) of the PRPU branched chain slider, and the second assembly hole (1-5-2-1) of the PRPU branched chain slider is provided in the middle 1-5-2-2) and the third assembly hole (1-5-2-3) of the PRPU branch chain slider, and the fourth assembly hole (1-5-2-4) of the PRPU branch chain slider is provided at the lower part; The first support guide rod (1-5-3) passes through the first assembly hole (1-5-2-1) of the PRPU branch chain slider, and the PRPU branch chain slider (1-5-2) Connected; two second support guide rods (1-5-4) respectively pass through the second assembly hole (1-5-2-2) of the PRPU branch chain slider and the third assembly hole of the PRPU branch chain slider ( 1-5-2-3), connected with the PRPU branch chain slider (1-5-2), forming the third P pair; the upper end of the upper link (1-5-5) passes through the middle platform (1 -3) through the square hole of the upper link assembly shaft (1-5-5-1) through the fourth assembly hole (1-5-2-4) of the PRPU branch chain slider, and the PRPU branch chain slider ( 1-5-2) connection to form the third R pair, the end face of the fourth assembly hole of the PRPU branch chain slider (1-5-2-5) and the upper connecting rod assembly shaft (1-5-5-1) Alignment of connecting rod assembly shaft end faces (1-5-5-2); The center of the upper link (1-5-5) is provided with an upper link assembly hole (1-5-5-3), and the lower link assembly shaft of the lower link (1-5-6) ( 1-5-6-1) penetrate the upper connecting rod assembly hole (1-5-5-3), and connect the upper connecting rods (1-5-5) to form the fourth P pair; The asymmetric cross axis (1-5-7) includes a first assembly axis of the asymmetric cross axis (1-5-7-1) and a second assembly axis of the asymmetric cross axis (1-5-7- 2), the lower end of the lower connecting rod (1-5-6) is provided with the lower connecting rod assembly hole (1-5-6-2), and the middle of the moving platform (1-6) is provided with the middle of the moving platform Assembly hole (1-6-2); the asymmetric cross shaft (1-5-7) passes through the lower connecting rod assembly hole (1-5-7) through the first assembly shaft (1-5-7-1) -5-6-2), connected with the lower connecting rod (1-5-6), passing through the middle assembly hole (1-6 -2), connected with the moving platform (1-6) to form a second U pair; the asymmetric cross shaft centerline (1-5-7-3) of the asymmetric cross shaft (1-5-7), The axis of the lower connecting rod (1-5-6) and the center line of symmetry (1-6-3) of the moving platform of the moving platform (1-6) are coaxial. 9. The novel five-degree-of-freedom hybrid mechanism with reconfigurable adjusting device as claimed in claim 8, characterized in that, when the R auxiliary slider (1-2-6) is on the lead screw (1-2-2) When the upper position is fixed, the position of (1-2-7) of the PRR branch chain link is fixed, the position of the middle platform (1-3) is fixed, the reconfigurable adjustment device is fixed, and the (1-2-7) of the PRR branch chain link is fixed. 2-7) As a fixed platform for the movement of the PUS active movement branch chain (1-4), the middle platform (1-3) is used as a fixed platform for the movement of the middle PRPU passive movement branch chain (1-5); Through the R auxiliary slider (1-2-6) moving on the lead screw (1-2-2), adjust the horizontal support guide rail (1-2-1) and the PRR branch chain connecting rod (1-2-7). The angle between them, the movement of the PRR branch chain link (1-2-7) drives the movement of the middle platform (1-3), and correspondingly changes the PUS active movement branch chain (1-4) and the middle PRPU passive movement branch chain (1-5) The position of the stationary platform for the movement. 10. The novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device as claimed in claim 9, wherein the novel five-degree-of-freedom hybrid mechanism with a reconfigurable adjustment device also includes a processing head (1 -7), the processing head (1-7) is located under the moving platform (1-6), and is connected with the moving platform (1-6); the screw (1-2-2) is a ball screw .