CN107855791B - A kind of multi-parallel flexible cable formula optical fabrication device - Google Patents
A kind of multi-parallel flexible cable formula optical fabrication device Download PDFInfo
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- CN107855791B CN107855791B CN201711137367.8A CN201711137367A CN107855791B CN 107855791 B CN107855791 B CN 107855791B CN 201711137367 A CN201711137367 A CN 201711137367A CN 107855791 B CN107855791 B CN 107855791B
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- platform
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- driving motor
- rotatable platform
- mobile platform
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/64—Movable or adjustable work or tool supports characterised by the purpose of the movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/062—Work-clamping means adapted for holding workpieces having a special form or being made from a special material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/28—Electric drives
Abstract
The invention discloses a kind of multi-parallel flexible cable formula optical fabrication devices, including fixed workbench, mobile platform, rotatable platform, three groups of movement branched chain mechanisms, three groups of compliant mechanisms, ball screw framework, cutter drives mechanism and mirror surface clamping device；The movement branched chain mechanism supports that mobile platform is arranged circumferentially by three groups form three parallel moving mechanisms above fixed workbench, the compliant mechanism that rotatable platform is arranged circumferentially by three groups is mounted below mobile platform, it is connected simultaneously by ball screw framework between rotatable platform and mobile platform, the preload of three groups of compliant mechanisms is realized by ball screw framework, rotatable platform realizes pose adjustment by three groups of compliant mechanisms, the fine tuning in one degree of freedom is realized by ball screw framework, cutter drives mechanism is mounted on rotatable platform, mirror support mechanism is mounted on the geometric center of fixed workbench.Cutter six-freedom motion can be achieved in the present invention, can be used for processing the big optical mirror plane of radius of curvature.
Description
Technical field
The present invention relates to the technologies such as a kind of robot mechanism, optical fabrication, more particularly to a kind of flexibility that passes through to drive
The dynamic device for realizing multi-direction wide-angle mirror finish.
Background technique
Conventional serial machining tool structure is simple, but there are rigidity low-load ability is poor, structure is not compact to working space
It is required that height, energy consumption are big, error is cumulative to lead to problems such as precision lower.And space three-freedom connection-in-parallel mechanism is used, it is whole
Precise structure, compact, drive part is distributed in fixed platform, makes that the big bearing capacity of whole device rigidity is strong, dynamic property is good, and
Using parallel three-freedom mechanical arm structure, repetitive positioning accuracy is high.
Parallel institution is being widely used in the every field such as large-scale analog machine, numerically-controlled machine tool, micromanipulator, robot
In the process, rigidity driving can be because leading to the problems such as stress is limited, and the response time is long there are component is too long.Therefore, soft using rope
Property driving target member can not only effectively reduce impact, realize that accurately power controls also have the degree of modularity easy to assemble high
And the advantages that cheap.
Using rigid parallel institution, rotation angle is smaller to cause mirror finish range limited for traditional mirror processing.For
The optical mirror plane of wide-angle expands the range of work using the driving of flexible cable formula and improves work efficiency.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of multi-parallel flexible cable formula optics
Mirror processing device, by rope driven Parallel Kinematic Manipulator, so that processing platform has transmission efficiency height, fast response time, can add
The advantages that work angle is big.
Technical solution: to achieve the above object, the technical solution adopted by the present invention are as follows:
A kind of multi-parallel flexible cable formula optical fabrication device, including fixed workbench, mobile platform, rotatable platform,
Three groups of movement branched chain mechanisms, three groups of compliant mechanisms, ball screw framework, cutter drives mechanism and mirror surface clamping device；It is mobile flat
The movement branched chain mechanism supports that platform is arranged circumferentially by three groups form three parallel moving mechanisms above fixed workbench, rotate
The compliant mechanism that platform is arranged circumferentially by three groups is mounted below mobile platform, same between rotatable platform and mobile platform
When by ball screw framework connect, by ball screw framework realize three groups of compliant mechanisms preload, rotatable platform pass through three
Group compliant mechanism realizes pose adjustment, realizes the fine tuning in one degree of freedom by ball screw framework, and cutter drives mechanism is pacified
On rotatable platform, mirror support mechanism is mounted on the geometric center of fixed workbench；
The movement branched chain mechanism includes active branched chain bar and passive branch chain bar, drives active branched chain by B driving motor
Bar rotation, active branched chain bar lower section are equipped with potentiometric sensor；
The compliant mechanism includes rope, rope sheave and A driving motor, and rope one end is connect with rotatable platform, the other end with
Rope sheave connection drives rope sheave rotation by A driving motor, and the motor cabinet installation of A driving motor is on a mobile platform；
The ball screw framework includes fixture nut and lead screw, and fixture nut is fixed on the geometric center of mobile platform,
Lead screw vertically moves platform and extends downwardly, and drives lead screw rotation by C driving motor, the motor cabinet of C driving motor is mounted on shifting
On moving platform, the lower end of lead screw is fixed with connecting rod；
The cutter drives mechanism includes cutter and D driving motor, drives cutter rotation, D driving electricity by D driving motor
The motor cabinet of machine is mounted on rotatable platform, and the motor cabinet of D driving motor passes through flexural pivot simultaneously and the connecting rod of lead screw lower end connects
It connects, cutter is located at the geometric center of rotatable platform and vertical rotatable platform extends downwardly；
Uniaxial gyroscopic stabilizer is installed, uniaxial gyroscopic stabilizer is used to detect the position of rotatable platform on the rotatable platform
Appearance, potentiometric sensor have for feeding back B driving motor, the rotor position information of C driving motor and A driving motor and formation
The corrective loop of negative-feedback regu- lation mechanism, uniaxial gyroscopic stabilizer collaboration corrective loop and compliant mechanism adjust rotatable platform jointly
Pose.
There are two groups of parallel institutions in the present invention, one group is made of three groups of movement branched chain mechanisms, and mobile platform is realized
Translation；Another group is made of three groups of compliant mechanisms, and the adjustment (coarse adjustment) to rotatable platform is realized.Mobile platform and turn
Connect with lead screw between moving platform using rope, realization rotatable platform is fixed a cutting tool the rotations of two freedom degrees, while cutter itself
The rotation of one degree of freedom can jointly process mirror surface to be processed；The six-freedom motion of cutter can be used for processing curvature half
The big optical mirror plane of diameter；Rope flexibility ratio is big, controllability is strong, the degree of modularity easy to assemble is high, machining accuracy is high, can be to mirror surface
Carry out the processing of high efficiency wide-angle.
Preferably, be arranged circumferentially three groups of A revolute pairs below the mobile platform, A revolute pair include A bearing block,
Thrust ball bearing and hook hinge, A bearing block are fixed below mobile platform, and thrust ball bearing is mounted on A bearing block, Hooke
One end of hinge is connect with thrust ball bearing, and the motor cabinet of the other end and A driving motor is fixed.
Preferably, be arranged circumferentially three groups of B revolute pairs below the mobile platform, B revolute pair include B axle hold seat,
Deep groove ball bearing and connection branch chain bar, B axle are held seat and are fixed on a mobile platform, and deep groove ball bearing is mounted on B axle and holds on seat, connection
Branch chain bar is connect with deep groove ball bearing, and passive branch chain bar is connected with branch chain bar is connect.
Preferably, U-shaped card there are three being evenly arranged above the rotatable platform, rope one end is connect with U-shaped card.
Preferably, the mirror surface clamping device includes that mirror surface seat, mirror base plate and annular minute surface pressing plate, mirror base plate are fixed
On mirror surface seat, mirror surface to be processed is pressed between mirror base plate and annular minute surface pressing plate.
The utility model has the advantages that multi-parallel flexible cable formula optical fabrication device provided by the invention has compared with the existing technology
Following advantage: 1, it using three branch parallel institutions can realize six-freedom motion export, overcome the movement of conventional serial mechanism
The problems such as direction is few, mechanism insufficient rigidity, machining accuracy be not high and occupies larger arrangement space；2, using flexible drive side
Formula, cutter rotational angle is bigger compared with conventional rigid structure, is more able to satisfy the processing to wide-angle mirror surface；3, it is driven using rope
Mode, controllability is strong, fast response time, equipment cost is low and realizes mechanism module；4, using mirror surface clamping device
Mirror surface to be processed is connected on stationary work-table, the adjusting of Working position is completed as the parallel institution where cutter, is reduced
The deformation and positional shift of the mobile caused optical mirror plane that trembles of mirror surface, avoid unnecessary damage.
Detailed description of the invention
Fig. 1 is the whole structural schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram of mobile platform and rotatable platform tooling；
Fig. 3 is the structural schematic diagram of movement branched chain mechanism；
Fig. 4 is the partial schematic diagram of mirror surface clamping device.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
Fig. 1 show a kind of multi-parallel flexible cable formula optical fabrication device, including fixed workbench 1, mobile platform
11,23, three groups of movement branched chain mechanisms of rotatable platform, three groups of compliant mechanisms, ball screw framework, cutter drives mechanism and mirror surface folder
Hold mechanism；The movement branched chain mechanism supports that mobile platform 11 is arranged circumferentially by three groups are rectangular on fixed workbench 1
At three parallel moving mechanisms (identical as existing structure), the compliant mechanism that rotatable platform 23 is arranged circumferentially by three groups is mounted on
11 lower section of mobile platform, is connected simultaneously by ball screw framework between rotatable platform 23 and mobile platform 11, passes through ball wire
Thick stick mechanism realizes the preload of three groups of compliant mechanisms, and rotatable platform 23 realizes pose adjustment by three groups of compliant mechanisms, passes through ball
Screw mechanism realizes the fine tuning in one degree of freedom, and cutter drives mechanism is mounted on rotatable platform 23, mirror support mechanism peace
Mounted in the geometric center of fixed workbench 1.
As shown in figure 3, the movement branched chain mechanism includes the passive branch chain bar 9 parallel with a pair of of position of active branched chain bar 7,
It drives active branched chain bar 7 to rotate by B driving motor 2, potentiometric sensor 3 is installed below active branched chain bar 7；Passive branch
It is connected between bar 9 and active branched chain bar 7 by A deep groove ball bearing 28, can be realized the opposite active branched chain bar of passive branch chain bar 9
7 rotation is simultaneously, additionally it is possible to realize the swing of the opposite active branched chain bar 7 of passive branch chain bar 9；Three groups of movement branched chain mechanisms make jointly
With translation of the realization mobile platform 11 relative to fixed workbench 1.Three have been arranged circumferentially below the mobile platform 11
Group B revolute pair, B revolute pair include that B axle holds seat 10, deep groove ball bearing 26 and connects branch chain bar 8, and B axle holds seat 10 and is fixed on movement
On platform 11, deep groove ball bearing 26 is mounted on B axle and holds on seat 10, and connection branch chain bar 8 is connect with deep groove ball bearing 26, passive branch
Bar 9 is connected with branch chain bar 8 is connect.
The compliant mechanism includes rope 19, rope sheave 16 and A driving motor 15, is evenly arranged above the rotatable platform 23
There are three U-shaped card 20,19 one end of rope is connect with U-shaped card 20, and the other end is connect with rope sheave 16, is driven by A driving motor 15
Rope sheave 16 rotates.Be arranged circumferentially three groups of A revolute pairs below the mobile platform 11, A revolute pair include A bearing block 13,
Thrust ball bearing 27 and hook hinge 14, A bearing block 13 are fixed on 11 lower section of mobile platform, and thrust ball bearing 27 is mounted on A axis
It holds on seat 13, one end of hook hinge 14 is connect with thrust ball bearing 27, and the motor cabinet of the other end and A driving motor 15 is fixed.
The ball screw framework includes fixture nut and lead screw 17, and fixture nut is fixed in the geometry of mobile platform 11
The heart, lead screw 17 vertically move platform 11 and extend downwardly, and drive lead screw 17 to rotate by C driving motor 12, the electricity of C driving motor 12
Base is mounted on mobile platform 11, and the lower end of lead screw 17 is fixed with connecting rod.
The cutter drives mechanism includes cutter 24 and D driving motor 21, drives 24 turns of cutter by D driving motor 21
Dynamic, the motor cabinet 25 of D driving motor 21 is mounted on rotatable platform 23, and the motor cabinet 25 of D driving motor 21 passes through flexural pivot simultaneously
18 connect with the connecting rod of 17 lower end of lead screw, and cutter 24 is located at the geometric center of rotatable platform 23 and vertical rotatable platform 23 downwards
It stretches out.
The mirror surface clamping device includes mirror surface seat 4, mirror base plate 5 and annular minute surface pressing plate 6, and mirror base plate 5 is fixed on
On mirror surface seat 4, mirror surface to be processed is pressed between mirror base plate 5 and annular minute surface pressing plate 6
Uniaxial gyroscopic stabilizer 22 is installed, uniaxial gyroscopic stabilizer 22 is flat for detecting rotation on the rotatable platform 23
The pose of platform 23, potentiometric sensor 3 are used to feed back the rotor-position of B driving motor 2, C driving motor 12 and A driving motor 15
Information simultaneously forms the corrective loop with negative-feedback regu- lation mechanism, and uniaxial gyroscopic stabilizer 22 cooperates with corrective loop and compliant mechanism
The common pose for adjusting rotatable platform 23.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of multi-parallel flexible cable formula optical fabrication device, it is characterised in that: flat including fixed workbench (1), movement
Platform (11), rotatable platform (23), three groups of movement branched chain mechanisms, three groups of compliant mechanisms, ball screw framework, cutter drives mechanism and
Mirror surface clamping device；The movement branched chain mechanism supports that mobile platform (11) is arranged circumferentially by three groups are in fixed workbench
(1) top forms three parallel moving mechanisms, and the compliant mechanism that rotatable platform (23) is arranged circumferentially by three groups is mounted on mobile flat
Below platform (11), is connected simultaneously by ball screw framework between rotatable platform (23) and mobile platform (11), pass through ball wire
Thick stick mechanism realizes the preload of three groups of compliant mechanisms, and rotatable platform (23) realizes pose adjustment by three groups of compliant mechanisms, passes through rolling
Screw mechanism realizes fine tuning, and cutter drives mechanism is mounted on rotatable platform (23), and mirror support mechanism is mounted on regular worker
Make the geometric center of platform (1)；
The movement branched chain mechanism includes active branched chain bar (7) and passive branch chain bar (9), is driven actively by B driving motor (2)
Branch chain bar (7) rotation, active branched chain bar (7) lower section are equipped with potentiometric sensor (3)；
The compliant mechanism includes rope (19), rope sheave (16) and A driving motor (15), rope (19) one end and rotatable platform
(23) it connects, the other end is connect with rope sheave (16), passes through A driving motor (15) driving rope sheave (16) rotation, A driving motor (15)
Motor cabinet be mounted on mobile platform (11)；
The ball screw framework includes fixture nut and lead screw (17), and fixture nut is fixed in the geometry of mobile platform (11)
The heart, lead screw (17) vertically move platform (11) and extend downwardly, and pass through C driving motor (12) driving lead screw (17) rotation, C driving electricity
The motor cabinet of machine (12) is mounted on mobile platform (11), and the lower end of lead screw (17) is fixed with connecting rod；
The cutter drives mechanism includes cutter (24) and D driving motor (21), drives cutter (24) by D driving motor (21)
Rotation, the motor cabinet (25) of D driving motor (21) are mounted on rotatable platform (23), the motor cabinet (25) of D driving motor (21)
It is connect simultaneously by flexural pivot (18) with the connecting rod of lead screw (17) lower end, cutter (24) is located at the geometric center of rotatable platform (23)
And vertical rotatable platform (23) extends downwardly；
It is equipped with uniaxial gyroscopic stabilizer (22) on the rotatable platform (23), uniaxial gyroscopic stabilizer (22) is for detecting rotation
The pose of platform (23), potentiometric sensor (3) is for feeding back B driving motor (2), C driving motor (12) and A driving motor
(15) rotor position information and formation has the corrective loop of negative-feedback regu- lation mechanism, and uniaxial gyroscopic stabilizer (22) collaboration is repaired
Positive circuit and compliant mechanism adjust the pose of rotatable platform (23) jointly.
2. multi-parallel flexible cable formula optical fabrication device according to claim 1, it is characterised in that: the mobile platform
(11) lower section has been arranged circumferentially three groups of A revolute pairs, and A revolute pair includes A bearing block (13), thrust ball bearing (27) and Hooke
Hinge (14), A bearing block (13) are fixed below mobile platform (11), and thrust ball bearing (27) is mounted on A bearing block (13),
One end of hook hinge (14) is connect with thrust ball bearing (27), and the other end and the motor cabinet of A driving motor (15) are fixed.
3. multi-parallel flexible cable formula optical fabrication device according to claim 1, it is characterised in that: the mobile platform
(11) lower section has been arranged circumferentially three groups of B revolute pairs, and B revolute pair includes that B axle holds seat (10), deep groove ball bearing (26) and connection
Branch chain bar (8), B axle are held seat (10) and are fixed on mobile platform (11), and deep groove ball bearing (26) is mounted on B axle and holds on seat (10),
Connection branch chain bar (8) is connect with deep groove ball bearing (26), and passive branch chain bar (9) connects with branch chain bar (8) are connect.
4. multi-parallel flexible cable formula optical fabrication device according to claim 1, it is characterised in that: the rotatable platform
(23) there are three being evenly arranged above U-shaped card (20), rope (19) one end is connect with U-shaped card (20).
5. multi-parallel flexible cable formula optical fabrication device according to claim 1, it is characterised in that: the mirror surface clamping
Mechanism includes mirror surface seat (4), mirror base plate (5) and annular minute surface pressing plate (6), and mirror base plate (5) is fixed on mirror surface seat (4),
Mirror surface to be processed is pressed between mirror base plate (5) and annular minute surface pressing plate (6).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711137367.8A CN107855791B (en) | 2017-11-16 | 2017-11-16 | A kind of multi-parallel flexible cable formula optical fabrication device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711137367.8A CN107855791B (en) | 2017-11-16 | 2017-11-16 | A kind of multi-parallel flexible cable formula optical fabrication device |
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| CN107855791A CN107855791A (en) | 2018-03-30 |
| CN107855791B true CN107855791B (en) | 2019-05-31 |
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| CN108393871B (en) * | 2018-04-09 | 2019-09-17 | 清华大学 | High speed high load parallel robot |
| CN108637553B (en) * | 2018-05-22 | 2020-04-24 | 广东盈科机器人产业有限公司 | Multi-surface welding robot |
| CN110421567A (en) * | 2019-08-09 | 2019-11-08 | 中国矿业大学 | A kind of multirobot process unit of complexity surface parts |
| CN112621737B (en) * | 2020-12-04 | 2023-12-26 | 沈阳通用机器人技术股份有限公司 | Seven-axis force feedback handle |
| CN113117942B (en) * | 2021-04-16 | 2022-03-29 | 合肥工业大学 | Rigid-flexible coupling parallel robot multicolor spraying experimental device and spraying method |
| CN114153126B (en) * | 2021-12-16 | 2022-10-04 | 哈尔滨工业大学 | Micro mirror surface group driving device based on bearing centering |
| CN117260988A (en) * | 2023-09-06 | 2023-12-22 | 中国矿业大学 | Multi-parallel optical mirror surface processing device |
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