CN101092019A - Platform of principal axis with paralleled Z, A two degrees of freedom driven by linear motor - Google Patents

Platform of principal axis with paralleled Z, A two degrees of freedom driven by linear motor Download PDF

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Publication number
CN101092019A
CN101092019A CN 200710118483 CN200710118483A CN101092019A CN 101092019 A CN101092019 A CN 101092019A CN 200710118483 CN200710118483 CN 200710118483 CN 200710118483 A CN200710118483 A CN 200710118483A CN 101092019 A CN101092019 A CN 101092019A
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assembly
moving
platform
revolute
linear motor
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CN 200710118483
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Chinese (zh)
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CN100558507C (en
Inventor
刘强
陈静
陈华伟
袁松梅
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Beihang University
Beijing University of Aeronautics and Astronautics
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Beihang University
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Abstract

The invention relates to a Z-A two degree of freedom parallel main shaft platform driving by linear motor. It includes static platform, vertical shaft, linear motor stator and mover, self locking device, moving fit device, rotating fit assembly A, B, connecting rod assembly, expansion link component, moving platform component and main shaft component. The static platform has plane shaped, and vertical shaft is slot shaped. Linear motor stator is set on vertical shaft and mover is connected to moving fit device. The self locking device has cylinder, cylinder base, friction plate, and friction column. The moving fit component has linear guide rail, slider and moving base. Rotating fit assembly is rotating component. Connecting rod assembly has V shape, and expansion link component has expansion link and U shaped shifter. Moving platform component has geometric symmetry polygon. The connecting relationship is that: vertical shaft connects to static platform; moving fit component is located on vertical shaft; connecting rod assembly connects to moving fit device and moving platform through rotating fit assembly A and B; one end of expansion link connects to static platform and the other end connects to moving platform assembly. The main shaft section is set on moving platform assembly.

Description

The Z-A two-freedom that linear electric motors drive platform of principal in parallel
(1) technical field:
The present invention relates to a kind of parallel machine that is used for by the Z-A two-freedom platform of principal in parallel that linear electric motors drive, belong to mechanical engineering.
(2) background technology:
Parallel machine claims that again empty (plan) axle lathe is the novel numerical control process equipment that comes out the mid-90 in 20th century.From first complete six-degree-of-freedom parallel bed since the U.S. releases, the parallel machine prototype machine that each state has all released one after another various.Because there are many deficiencies such as kinematics modeling complexity, motion coupling and machining accuracy are lower in the multi-freedom parallel connection lathe, and the user does not need the six degree of freedom lathe in many cases, is lower than six degree of freedom and can satisfies actual processing request.Therefore, the lower-mobility parallel machine has become current Study on Parallel Machine Tools focus.Parallel machine is compared with traditional machine tool has plurality of advantages such as simple in structure, that rigidity is high, bearing capacity is strong, dynamic characteristic is good, but have also that working space is little, the movement interference in the working space and shortcoming such as unusual.Simultaneously, the main shaft range of deflection in parallel of parallel machine is less also to be a problem, generally in 30 °~60 ° scopes.
(3) summary of the invention:
The purpose of this invention is to provide the Z-A two-freedom platform of principal in parallel that a kind of linear electric motors drive, this parallel connection platform of principal has the plurality of advantages of parallel institution concurrently, and A axle deflection simultaneously can reach ± and 90 °.This parallel connection platform of principal is directly driven by linear electric motors, is applied to can realize bigger working space in the lower-mobility parallel machine, and no movement interference and the unusual generation of motion in motion process.
The Z-A two-freedom that a kind of linear electric motors of the present invention drive platform of principal in parallel is made up of silent flatform 1, column 2, linear motor rotor 3 and linear motor stator electric 4, self-locking device, two moving sets assemblies, two revolute assembly A 12, two link assemblies 13, an expansion link assembly, three revolute assembly B 16, moving platform assembly 17 and spindle units 18; Wherein:
This silent flatform 1 is a rectangular plane, is used for location and vertical columns 2 and friction post 8; There is a circular port heart position therein, is used to install and fix the expansion link assembly;
This column 2 is a U type groove shape global facility, and trench bottom is used to install and fix linear motor stator electric 4, and both sides, groove top are used to install and fix line slideway 9;
This linear motor stator electric 4 is fixedly mounted on the column 2, and linear motor rotor 3 directly links to each other with the moving sets assembly, constitutes the linear electric motors Direct Driving System;
This self-locking device is one group of friction supporting system of being made up of single-acting extrusion type cylinder 6, cylinder block 5, friction plate 7 and friction post 8, and cylinder is a kind of single-acting extrusion type cylinder, is evenly distributed on four jiaos of moving sets assembly; Friction plate 7 is a kind of high-abrasive material, directly links to each other with cylinder piston rod;
This moving sets assembly is made up of line slideway 9, slide block 10 and moving base 11, and line slideway 9 is fixed on the column 2, and moving base 11 links to each other with slide block 10, can make the Z axle along guide rail and move back and forth;
This revolute assembly is a pair of pivoting part, can carry out 360 ° of rotations around himself axis; Revolute assembly A is identical with revolute assembly B structure, difference be exactly separately the radius of gyration vary in size;
This link assembly 13 is plate-shaped members of an approximate V-type, and its two ends are welded with the gyroaxis that matches with revolute assembly A 12 and revolute assembly B 16, thereby constitutes a global facility;
This expansion link assembly is made up of expansion link 14 and a U type shift fork 15, directly fixedlys connected with expansion link 14 in U type shift fork 15 tops, and U type mouth two ends cooperate with revolute assembly B 16, can be around its axis revolution;
This moving platform assembly 17 is polygon platforms of how much symmetries, is provided with the installation screwed hole above;
This spindle unit 18 can adopt AC servo electricity main shaft, also can adopt AC frequency conversion electricity main shaft.
Structure annexation between above-mentioned parts is: two column 2 parallel opposed distribute, and are connected and fixed with silent flatform 1 respectively; Two moving sets assembly parallel opposed are on two columns 2, two link assembly 13 two ends link to each other with moving platform assembly 17 with the moving sets assembly respectively with revolute assembly B 16 by revolute assembly A 12, thereby constitute 2-PRR (P-moving sets, R-revolute) side chain; Expansion link assembly one end is fixed on the center of silent flatform, and the other end links to each other with moving platform assembly 17 by revolute assembly B 16, thereby moving platform assembly 17 is played aiding support and redundant effect of contraction; Spindle unit 18 is installed on the moving platform assembly 17; Moving platform assembly 17 drives spindle units 18 under redundant effect of contraction, can make the Z axle relative to silent flatform and move and carry out the deflection of A axle.
The Z-A two-freedom that a kind of linear electric motors of the present invention drive platform of principal in parallel, its advantage is: the advantage that the existing parallel institution feed speed of Z-A two-freedom platform of principal in parallel is fast, rigidity is high, bearing capacity is strong, also have the big advantage of A axle range of deflection simultaneously, can reach ± 90 °.In addition, some other design feature is: based on the linear electric motors direct driving technologies, this parallel connection platform of principal can obtain higher movement velocity, acceleration and precision; Increase the expansion link assembly and connect, improved should the parallel connection platform of principal structural rigidity, and it is unusual to have eliminated motion; When the moving sets assembly when the Z axle is synchronized with the movement fully, can realize that the center of gravity of this platform of principal drives, suppressed the vibration problem of main shaft when high-speed motion effectively.
(4) description of drawings:
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a upward view of the present invention.
Fig. 4 is a left view of the present invention.
Fig. 5 is that A-A of the present invention is to cutaway view.
Number in the figure and symbol description are as follows:
1 silent flatform, 2 columns, 3 linear motor rotors
4 linear motor stator electrics, 5 cylinder blocks, 6 single-acting extrusion type cylinders
7 friction plates, 8 friction posts, 9 line slideways
10 slide blocks, 11 moving bases, 12 revolute assembly A
13 link assemblies, 14 expansion link 15U type shift forks
16 revolute assembly B, 17 moving platform assemblies, 18 spindle units
(5) specific embodiment:
The present invention is described in further detail below in conjunction with accompanying drawing.
The Z-A two-freedom that a kind of linear electric motors of the present invention drive platform of principal in parallel includes: silent flatform 1, column 2, linear motor rotor 3, linear motor stator electric 4, self-locking device, two moving sets assemblies, two revolute assembly A 12, two link assemblies 13, expansion link 14, U type shift fork 15, three revolute assembly B 16, moving platform assembly 17 and spindle units 18;
As shown in Figure 1, two U type groove shape column 2 parallel opposed distribute, and connect fixingly with silent flatform 1 respectively by screw, and linear motor stator electric 4 usefulness screws are separately fixed in the U type groove in the column 2, four friction posts 8 also are connected with silent flatform 1 with screw, and are fixed on as shown in Figure 1 the position.
As shown in Figure 1, 2, the moving sets assembly includes line slideway 9, slide block 10 and moving base 11; Two groups of line slideway 9 usefulness screws are separately fixed on the U type mouth end face of column 2, a pair of line slideway 9 parallel placements in every group; Four groups of slide blocks 10 place respectively on two groups of line slideways 9, and every group of line slideway 9 symmetries are placed two groups of slide blocks 10; Moving base 11 usefulness screws and slide block 10 are connected and fixed, and linear motor rotor 3 is screwed with moving base 11 and is connected simultaneously; Linear motor rotor 3 direct actuation movement pedestals 11 and the slide block 10 of fixedlying connected are therewith made Z axle linear reciprocating motion along line slideway 9.Because of based on the linear electric motors direct driving technologies,, moving base 11 in this moving sets assembly and slide block 10 quicken and high-precision rectilinear motion so can realizing high speed, height.
Shown in Fig. 3,4, self-locking device comprises cylinder block 5, single-acting extrusion type cylinder 6, friction plate 7 and friction post 8; Two groups of (totally eight) cylinder block 5 usefulness screws directly are fixed on four corners of moving base 11, two groups of (totally eight) single-acting extrusion type cylinders 6 are fixed by bolts on the cylinder block 5, two groups of (totally eight) friction plates 7 are threaded fixing with the piston rod top of cylinder 6 respectively, four friction post 8 symmetries are positioned over the both sides, front and back of silent flatform 1, and be connected and fixed with screw and silent flatform 1, each component shape and detailed mounting structure are as shown in Figure 3.In free state or not under the duty, cylinder 6 is under the effect of cylinder inner spring, extrude the piston rod of cylinder 6, make with the fixedly connected friction plate 7 in piston rod top tightly push down friction post 8, produce stiction vertically upward this moment, thereby pinning linear motor rotor 3 and moving sets assembly glide because of deadweight; In working order down, give cylinder 6 ventilations, the piston rod of cylinder 6 overcomes cylinder inner spring active force under gas pressure, compress into the piston rod of cylinder 6, make and separate with friction post 8 with the fixedly connected friction plate 7 in piston rod top, this moment, stiction between the two disappeared, thereby linear motor rotor 3 and moving sets assembly can freely be moved back and forth on the Z axle in release.
Shown in Fig. 1,2,3 and 5, two revolute assembly A 12 usefulness screws respectively with the moving sets assembly in moving base 11 be connected and fixed, two link assembly 13 two ends are welded with gyroaxis, the gyroaxis of upper end welding is connected cooperation with two revolute assembly A 12 respectively, the gyroaxis of lower end welding is connected cooperation with other two revolute assembly B 16 respectively, revolute assembly B 16 usefulness screws are symmetrically fixed on the right and left of moving platform assembly 17, thereby form 2-PRR (P-moving sets, the R-revolute) side chain of parallel institution.The upper end of expansion link 14 links to each other with silent flatform 1, and be screwed on silent flatform 1 by the centre bore on the silent flatform 1, the lower end of expansion link 14 is connected and fixed with bolt and a U type shift fork 15 top shift fork handles, U type shift fork bottom is connected cooperation with revolute assembly B 16, can be around its axis rotation, revolute assembly B 16 is positioned over the position, rear and front end on moving platform assembly 17 center lines, and be screwed, thereby form the expansion link side chain with redundant effect of contraction, this side chain also plays the aiding support effect to moving platform assembly 17 simultaneously.Under the redundant effect of contraction of expansion link side chain, the motion of having eliminated moving platform assembly 17 is unusual, moves with A axle deflection two-freedom and moves so moving platform assembly 17 can only be made the Z axle; Under the effect of expansion link side chain aiding support, improved should the parallel connection platform of principal structural rigidity.Spindle unit 18 is installed on the moving platform assembly 17, and moving platform assembly 17 drives spindle units 18 and can make the Z axle relative to silent flatform 1 and move and A axle yaw motion, and the deflection of A axle can reach ± 90 °.
Shown in Fig. 2,5, moving platform assembly 17 complete lattice symmetries are after spindle unit 18 is installed on the moving platform assembly 17, so main shaft center of gravity heart position therein.When two linear motor rotors 3 are synchronized with the movement fully, be installed in the spindle unit 18 on the moving platform assembly 17 will produce the Z axle with respect to silent flatform 1 translation; Because of the center of gravity of moving platform assembly 17 and spindle unit 18 on the position of center line of two link assemblies, 13 terminal lines, can realize that therefore the center of gravity of this parallel connection platform of principal drives, can suppress the vibration of spindle unit 18 when high-speed motion effectively, improve machining accuracy.When having only a motion in two linear motor rotors 3, the spindle unit 18 that is installed on the moving platform assembly 17 will produce yaw motion with respect to silent flatform 1, i.e. A axle yaw motion.When two linear motor rotors 3 move simultaneously, but movement velocity is not simultaneously, and the spindle unit 18 that is installed on the moving platform assembly 17 will produce translation and yaw motion simultaneously with respect to silent flatform 1, and promptly the Z axle moves up and down yaw motion with the A axle.

Claims (3)

1, a kind of Z-A two-freedom of linear electric motors driving platform of principal in parallel, it is characterized in that: this device is made up of silent flatform (1), column (2), linear motor rotor (3) and linear motor stator electric (4), self-locking device, two moving sets assemblies, two revolute assembly A (12), two link assemblies (13), expansion link assembly, three revolute assembly B (16), moving platform assembly (17) and spindle units (18);
This silent flatform (1) is a rectangular plane, is used for location and vertical columns (2) and friction post (8); There is a circular port heart position therein, is used to install and fix the expansion link assembly;
This column (2) is a U type groove shape global facility, and trench bottom is used to install and fix linear motor stator electric (4), and both sides, groove top are used to install and fix line slideway (9);
This linear motor stator electric (4) is fixedly mounted on the column (2), and linear motor rotor (3) directly links to each other with the moving sets assembly, constitutes the linear electric motors Direct Driving System;
This self-locking device is one group of friction supporting system of being made up of single-acting extrusion type cylinder (6), cylinder block (5), friction plate (7) and friction post (8), and cylinder is a kind of single-acting extrusion type cylinder, is evenly distributed on four jiaos of moving sets assembly; Friction plate (7) is a kind of high-abrasive material, directly links to each other with cylinder piston rod;
This moving sets assembly is made up of line slideway (9), slide block (10) and moving base (11), and line slideway (9) is fixed on the column (2), and moving base (11) links to each other with slide block (10), can make the Z axle along guide rail and move back and forth;
This revolute assembly is a pair of pivoting part, can carry out 360 ° of rotations around himself axis; Revolute assembly A is identical with revolute assembly B structure, difference be exactly separately the radius of gyration vary in size;
This link assembly (13) is the plate-shaped member of an approximate V-type, and its two ends are welded with the gyroaxis that matches with revolute assembly A (12) and revolute assembly B (16), thereby constitutes a global facility;
This expansion link assembly is made up of an expansion link (14) and a U type shift fork (15), directly fixedlys connected with expansion link (14) in U type shift fork (15) top, and U type mouth two ends cooperate with revolute assembly B (16), can be around its axis revolution;
This moving platform assembly (17) is the polygon platform of how much symmetries, is provided with the installation screwed hole above;
Structure annexation between above-mentioned parts is: two columns (2) parallel opposed distributes, and is connected and fixed with silent flatform (1) respectively; Two moving sets assembly parallel opposed are on two columns (2), and two link assemblies (13) two ends link to each other with moving platform assembly (17) with the moving sets assembly respectively with revolute assembly B (16) by revolute assembly A (12), thereby constitute the 2-PRR side chain; Expansion link assembly one end is fixed on the center of silent flatform (1), and the other end links to each other with moving platform assembly (17) by revolute assembly B (16), thereby moving platform assembly (17) is played aiding support and redundant effect of contraction; Spindle unit (18) is installed on the moving platform assembly (17); Moving platform assembly (17) drives spindle unit (18) under redundant effect of contraction, can make the Z axle relative to silent flatform and move and carry out the deflection of A axle.
2, the Z-A two-freedom of linear electric motors driving according to claim 1 platform of principal in parallel is characterized in that: this spindle unit (18) adopts AC servo electricity main shaft.
3, the Z-A two-freedom of linear electric motors driving according to claim 1 platform of principal in parallel is characterized in that: this spindle unit (18) adopts AC frequency conversion electricity main shaft.
CNB2007101184835A 2007-07-06 2007-07-06 The Z-A two-freedom that linear electric motors drive platform of principal in parallel Expired - Fee Related CN100558507C (en)

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CNB2007101184835A CN100558507C (en) 2007-07-06 2007-07-06 The Z-A two-freedom that linear electric motors drive platform of principal in parallel

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Application Number Priority Date Filing Date Title
CNB2007101184835A CN100558507C (en) 2007-07-06 2007-07-06 The Z-A two-freedom that linear electric motors drive platform of principal in parallel

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CN100558507C CN100558507C (en) 2009-11-11

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101380717B (en) * 2008-09-03 2010-06-09 西安理工大学 Machine tool module construction of double slider driven linkage mechanism capable of being angularly processed
CN101863022A (en) * 2010-06-04 2010-10-20 清华大学 Two-degree-of-freedom parallel mechanism of plane polar coordinate
CN102069394A (en) * 2010-12-22 2011-05-25 浙江工业大学 Two-freedom parallel machine tool
CN102570727A (en) * 2010-12-31 2012-07-11 延锋伟世通汽车饰件系统有限公司 Magnetic axis type multi-linear motor parallel structure
CN102615514A (en) * 2012-04-10 2012-08-01 清华大学 Two-degree-of-plane-freedom redundant drive parallel mechanism and machine tool with same
CN102882316A (en) * 2011-07-15 2013-01-16 延锋伟世通汽车饰件系统有限公司 Magnetic axis type linear motor power failure protection method and device
CN103213000A (en) * 2013-04-21 2013-07-24 中国科学院光电技术研究所 Small-angle rotation and linear movement generating device based on platform

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101380717B (en) * 2008-09-03 2010-06-09 西安理工大学 Machine tool module construction of double slider driven linkage mechanism capable of being angularly processed
CN101863022A (en) * 2010-06-04 2010-10-20 清华大学 Two-degree-of-freedom parallel mechanism of plane polar coordinate
CN102069394A (en) * 2010-12-22 2011-05-25 浙江工业大学 Two-freedom parallel machine tool
CN102570727A (en) * 2010-12-31 2012-07-11 延锋伟世通汽车饰件系统有限公司 Magnetic axis type multi-linear motor parallel structure
CN102570727B (en) * 2010-12-31 2014-01-22 延锋伟世通汽车饰件系统有限公司 Magnetic axis type multi-linear motor parallel structure
CN102882316A (en) * 2011-07-15 2013-01-16 延锋伟世通汽车饰件系统有限公司 Magnetic axis type linear motor power failure protection method and device
CN102615514A (en) * 2012-04-10 2012-08-01 清华大学 Two-degree-of-plane-freedom redundant drive parallel mechanism and machine tool with same
CN102615514B (en) * 2012-04-10 2013-08-14 清华大学 Two-degree-of-plane-freedom redundant drive parallel mechanism and machine tool with same
CN103213000A (en) * 2013-04-21 2013-07-24 中国科学院光电技术研究所 Small-angle rotation and linear movement generating device based on platform
CN103213000B (en) * 2013-04-21 2015-04-22 中国科学院光电技术研究所 Small-angle rotation and linear movement generating device based on platform

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