CN101279425A - Multi-axes synchronous hybrid device - Google Patents

Multi-axes synchronous hybrid device Download PDF

Info

Publication number
CN101279425A
CN101279425A CN 200810113768 CN200810113768A CN101279425A CN 101279425 A CN101279425 A CN 101279425A CN 200810113768 CN200810113768 CN 200810113768 CN 200810113768 A CN200810113768 A CN 200810113768A CN 101279425 A CN101279425 A CN 101279425A
Authority
CN
China
Prior art keywords
connected
bed
movable platform
slider
sub
Prior art date
Application number
CN 200810113768
Other languages
Chinese (zh)
Other versions
CN100579719C (en
Inventor
刘辛军
汪劲松
谢福贵
Original Assignee
清华大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 清华大学 filed Critical 清华大学
Priority to CN 200810113768 priority Critical patent/CN100579719C/en
Publication of CN101279425A publication Critical patent/CN101279425A/en
Application granted granted Critical
Publication of CN100579719C publication Critical patent/CN100579719C/en

Links

Abstract

The invention belongs to the manufacturing field of a numerical control device and relates to a multiaxial linkage series-parallel, which comprises a bed body, a moving platform, a joint type swinging head on which a spindle is arranged, three branched chains and a worktable on which a cut workpiece is arranged; wherein, a prismatic pair connection is achieved between the bed body and the worktable, the joint type swinging head on which the spindle is arranged is fixedly connected with the moving platform, the three branched chains are respectively connected between the bed body and the moving platform so as to form a spatial parallel closed-chain mechanism with the bed body and the moving platform and the spatial parallel closed-chain mechanism is used for realizing a freedom of two-dimensional movement, the worktable is used for realizing a freedom of one to two dimension, the joint type swinging head is used for realizing a freedom of zero to two dimension, and the compound motion of the worktable, the spatial parallel closed-chain mechanism and the joint type swinging head can realize at least a triaxial linkage control. The device has simple structure, reasonable layout, high stiffness, easy control, large work space and high machining accuracy, and can work with being placed vertically or horizontally, thus satisfying the requirements for multiaxial linkage numerical control machining of parts with complex curved surfaces.

Description

一种多轴联动混联装置 Hybrid devices linkage A polyaxial

[0001] 技术领域 [0001] Technical Field

[0002] 本发明属于数控装置制造领域,涉及一种能够满足对复杂曲面类零件进行多轴联动数控加工的多轴联动混联装置。 [0002] The present invention belongs to the field of manufacturing numerical control apparatus, relates to a multi-axis complex surfaces meet Parts multi-axis NC machining apparatus Hybrid.

[0003] 背景技术 [0003] BACKGROUND OF THE INVENTION

[0004] 在数控装置制造领域,传统数控装置的机械结构大多采用串联式的连接方式,使得装置容易产生误差积累,整体刚度不高,加工精度较低。 [0004] In the field of manufacturing numerical control apparatus, the mechanical structure of a conventional numerical control device are mostly used tandem connections, so prone to error accumulation means, the overall rigidity is not high, low machining accuracy. 上世纪90年代,并联装置的诞生让人们看到了数控装置的希望。 In the 1990s, the birth of a parallel device to let people see hope numerical control device. 并联装置具有结构简单、刚度高、无误差积累、运动部件质量小、易于实现高速运动等优点,在一定程度上弥补了传统数控装置的不足。 Apparatus having a simple parallel structure, high rigidity, no error accumulation, the small mass of moving parts, is easy to realize the advantages of high-speed movement, etc., to make up for the shortcomings of the conventional numerical control device to some extent. 然而,并联装置也有其天生的缺陷,尤其是6自由度并联装置,运动耦合性强、工作空间小、数控编程复杂等缺点使得并联装置的推广应用受到了较大程度的限制。 However, the parallel arrangement has its birth defects, in particular means 6 DOF motion coupling, small work space, so that the disadvantages such as complex CNC programming application a parallel arrangement by a greater extent. 近年来,少自由度并联装置越来越受到研究者的重视和青睐,而且一些少自由度并联装置得到了成功应用。 In recent years, more and more lower-mobility parallel arrangement researchers' attention and favor, and some lower-mobility parallel device has been successfully applied.

[0005] 为了满足对被加工零件日益复杂和特殊的加工要求,数控装置的加工性能也需要日益提高。 [0005] In order to meet the increasingly complex and special processing of parts of processing requirements, processing performance numerical control apparatus also requires increasing. 混联装置较好地综合了传统装置和并联装置的优点,此类产品在制造领域中更具有广泛的应用前景。 Hybrid device combines the advantages of a better parallel arrangement of the conventional apparatus and, more such products have a wide application prospect in the field of manufacturing.

[0006] 发明内容 [0006] SUMMARY OF THE INVENTION

[0007] 本发明的目的在于提供一种多轴联动混联装置,该装置具有结构简单、布局合理、刚度高、易于控制、工作空间大、加工精度高和可实现立卧两用等优点,综合了串联式和并联式装置的优势,可以满足对复杂曲面类零件的多轴联动数控加工要求。 [0007] The object of the present invention is to provide a multi-axis hybrid device which has a simple structure, reasonable layout, high rigidity, easy to control, a large working space, and high machining accuracy can be achieved, etc. Vertical and Horizontal, combines the advantages of tandem and parallel devices, multi-axis CNC machining to meet the requirements of the complex surface type parts.

[0008] 本发明提出的一种多轴联动混联装置,包括床身、安装被切削工件的工作台、安装主轴的关节型摆头、动平台、第一条支链、第二条支链;该床身与工作台通过移动副连接,该安装主轴的关节型摆头与动平台固定连接,该第一、第二条支链分别连接于该床身与动平台之间;其特征在于,该装置还包括第三条支链,该第三条支链连接于该床身与动平台之间,所述第一、第二、第三条支链分别与床身、动平台连接形成一个空间并联闭链机构,该空间并联闭链机构用于实现二维移动自由度,该安装被切削工件的工作台用于实现一到二维自由度,该关节型摆头用于实现零到二维自由度,该工作台、空间并联闭链机构与关节型摆头的复合运动,实现至少三轴的联动控制。 [0008] The present invention provides a proposed hybrid multi-axis device, comprising a bed, swing table is mounted for cutting a workpiece, mounted articulated spindle, the movable platform, the first branch, the second branch ; the bed and the table by moving the sub connector, the mounting spindle with an articulated swing the movable platform is fixedly connected to the first and second branches are connected between the bed and the movable platform; wherein the apparatus further comprises a third branch, the third branch is connected between the bed and the movable platform, said first, second, third branches respectively connected to the bed, forming the movable platform a space parallel closed chain, closed chain which space parallel for implementing a two-dimensional freedom of movement, which cutting a workpiece mounting table is used to implement a two-dimensional degree of freedom for swiveling of the articulated to zero dimensional degree of freedom of the stage, a space parallel with the closed chain complex articulated swiveling movement, to achieve linkage control at least three axes.

[0009] 所述第一、第二条支链包括设置在床身上的对称布置的两根立柱、滑块、连杆、运动副及固定连接有关节型摆头的动平台。 [0009] The first and second branches comprising, arranged in two columns, slide, rod, pair symmetrically arranged and fixed bed type body articulated swiveling connection of the moving platform. 所述运动副有三个,一个是连接于该立柱与滑块之间移动副,一个是连接于该滑块与连杆之间转动副,另一个是连接于该连杆与动平台之间转动副,该支链为PRR型运动支链。 The three sub-motion, a mobile connected between the column and the sub-slider, is connected to a swivel joint between the slider and the link, the other link is connected between the platform and the rotation of the movable vice, which is a branched-chain branched-type exercise PRR.

[0010] 所述第一、第二条支链包括设置在床身上的对称布置的两根立柱、伸缩内杆、伸缩外杆、运动副及固定连接有关节型摆头的动平台。 [0010] The first and second branches comprises two uprights disposed symmetrically arranged bed body, the inner telescopic rod, the outer telescopic rod and is fixedly connected to the sub-motion type articulated swiveling the moving platform. 所述运动副有三个,一个是连接于该立柱与伸缩外杆之间转动副,一个是连接于该伸缩外杆与伸缩内杆之间移动副,另一个是连接于该伸缩内杆与动平台之间转动副,该支链为RPR型运动支链。 The movement of the sub-three, one is connected between the pillar and the outer telescopic rod turning pair, a mobile connected to a telescopic joint between the outer shaft and the inner telescopic rod, the other is connected to the inner telescoping rod and movable swivel joint between the platform, the RPR branched chain branched-type motion.

[0011] 所述第三支链包括床身、四个连杆、连接体及该动平台,该床身、四个连杆、连接体及动平台依次通过转动副首尾相连形成两个平行四边形机构,该第三支链为该两个平行四边形机构串联而成的运动支链。 [0011] The third branch comprising a bed, four links, the linker and the moving platform, the bed, four links, and the linker is connected to the movable platform are sequentially formed by rotating the two parallelogram sub inclusive means, connected in series to the third branch of the parallelogram mechanism for moving two branches.

[0012] 所述第三支链包括床身、两个连杆、该动平台及一个移动滑块机构,该移动滑块机构包括滑块、床身与连接于该滑块与床身之间的移动副,该滑块、两个连杆及动平台依次通过转动副首尾相连形成一个平行四边形机构,该第三支链为该移动滑块机构和平行四边形机构串联而成的运动支链。 [0012] The third branch includes a bed, two links, the movable platform and a slider moving mechanism, the movement of the slider mechanism includes a slider, connected to the bed and the bed between the slider moving pair, the slider, the movable platform and the two links are sequentially connected to form a parallelogram mechanism by rotation of the sub-head and tail, the third branched and slider mechanism for moving the parallelogram movement branched in series.

[0013] 本发明的特点及技术效果 [0013] The features of the present invention and the technical effects

[0014] 本发明的多轴联动混联装置的空间并联闭链机构可实现二维移动自由度,其第一、第二支链可以是PRR(P为移动副、R为转动副)型或RPR型运动支链,其第三支链是由四个连杆及连接体依次通过转动副首尾相连的两个平行四边形机构串联而成的运动支链,或者是由一个移动滑块机构和一个平行四边形机构串联而成的运动支链,以限制动平台的转动和增强动平台刚度。 Multi-axis [0014] of the present invention means a space parallel hybrid closed chain can realize a two-dimensional freedom of movement, which first and second branches may be PRR (P sub mobile, R is a rotation sub) type or RPR type of kinematic chain which is branched from the third link and the linker four passes through two rotating parallelogram mechanism connected end to end in series in the sub-branch movement, or by a slider moving mechanism and a parallelogram mechanism formed by a series of kinematic chain, in order to limit the rotation of the movable platform and the movable platform enhanced stiffness. 通过工作台、动平台以及关节型摆头的复合运动,该装置可实现至少三轴的联动控制运动。 By stage, the movable platform, and a composite articulated swiveling movement, the apparatus can be realized at least three-axis motion control linkage.

[0015] 该机床具有以下优点:(1)结构简单;(2)刚度高;(3)数控编程简便;(4)机床体积工作空间比较小;(5)可实现立卧两用。 [0015] The machine has the following advantages: (1) simple structure; (2) stiffness; simple (3) NC program; (4) the machine is relatively small volume of the working space; (5) may be implemented Vertical and Horizontal. 这些优点使该机构更易于设计和控制,其灵活性更好,加工精度更高,可以满足对复杂曲面类零件的多轴联动数控加工要求。 These advantages make the mechanism easier to design and control, to its flexibility, higher precision, multi-axis CNC machining to meet the requirements of the complex surface type parts.

[0016] 附图说明 [0016] BRIEF DESCRIPTION OF DRAWINGS

[0017] 图1为本发明实施例1的结构示意图。 [0017] Figure 1 schematic structural diagram of an embodiment of the invention.

[0018] 图2为本发明实施例2的结构示意图。 [0018] FIG 2 structural diagram of embodiment 2 of the present invention.

[0019] 图3为本发明实施例3的结构示意图。 [0019] FIG. 3 a schematic diagram of the structure of the embodiment 3 of the present invention.

[0020] 图4为本发明实施例4的结构示意图。 [0020] Example 4 FIG. 4 schematic structural diagram of the embodiment of the present invention.

[0021] 图5为本发明实施例5的结构示意图。 [0021] FIG. 5 schematic structural diagram of embodiment 5 of the present invention.

[0022] 图6为本发明实施例6的结构示意图。 [0022] FIG 6 schematic structural diagram of Embodiment 6 of the present invention.

[0023] 图7为本发明实施例7的结构示意图。 [0023] FIG 7 schematic structural diagram of embodiment 7 of the present invention.

[0024] 图8为本发明实施例8的结构示意图。 [0024] FIG. 8 a schematic structural diagram of Embodiment 8 of the present invention.

[0025] 图9为本发明第三支链结构示意图。 [0025] Figure 9 a schematic view of a third structure of the present invention is a branched-chain.

[0026] 具体实施方式 [0026] DETAILED DESCRIPTION

[0027] 本发明的多轴联动混联装置结合附图及实施例详细说明如下: Multi-axis [0027] The hybrid device of the present invention in conjunction with the accompanying drawings and the following detailed description of embodiments:

[0028] 实施例1 [0028] Example 1

[0029] 本实施例多轴混联装置的结构如图1所示,其中图1(a)为前视图,图1(b)为后视图,包括床身11、动平台110、安装主轴的关节型摆头111、安装被切削工件14的工作台13、设置在床身上的对称布置的并通过水平连接体19连接的两根立柱15、114及第一、第二、第三条支链,所述三条支链分别连接于该立柱15、114、床身11与该动平台110之间,并与该立柱15、114、床身11、该动平台110形成空间并联闭链机构,该工作台13通过滚珠丝杠副由伺服电机12驱动。 [0029] Example multi-axis configuration of the present embodiment of the hybrid device shown in Figure 1, wherein FIG. 1 (a) is a front view, FIG. 1 (b) is a rear view, comprises a bed 11, moving the platform 110, the mounting of the spindle articulated swing 111, is mounted symmetrically arranged cutting table 13 of the workpiece 14, is provided on the bed of the two uprights and 15,114 and a first, second, third branched chain joined by a horizontal member 19 is connected the three branches respectively connected to the column 15,114, the bed 11 between the movable platform 110 and 15,114 with the column, the bed 11, the movable platform parallel to form a space 110 closed chain, which table 13 is driven by a servomotor 12 through a ball screw.

[0030] 所述第一、第二条支链为PRR型运动支链,包括该两根立柱15、114、在该立柱导轨上作直线运动的滑块16、滑块115、连杆17、连杆112、运动副、关节型摆头111、动平台110;该滑块16、115分别由安装在各立柱内的伺服电机18、113通过滚珠丝杠副驱动,该关节型摆头111水平放置与该动平台110固定连接,形成卧式结构,所述运动副有三个,一个是连接于该立柱与滑块16、115之间移动副,一个是连接于该滑块16、115与连杆17、112之间转动副,另一个是连接于该连杆17、112与动平台110之间转动副。 [0030] The first, second PRR branched chain branched-type motion, including the two posts 15,114, for the linear motion of the slider 16 on the column guide, the slider 115, the connecting rod 17, link 112, pair, articulated swing 111, the movable platform 110; the slider by a servomotor 18,113 16,115 respectively mounted in each sub-column by a ball screw drive, the horizontal articulated swing 111 placed fixedly connected to the movable platform 110, forming a horizontal structure, the movement of the sub-three, one is connected to the moving joint between the column and the slider 16,115, a connector is attached to the slider and 16,115 17,112 swivel joint between the rod and the other is connected to the rotary joint between the platform 110 and the movable rod 17,112.

[0031] 所述第三支链包括该床身、连杆117、118、119、120、连接体116及该动平台,依次通过转动副首尾相连形成两个平行四边形机构串联的运动支链,该第三支链连接于该动平台与该床身之间;该第三支链是随动支链,用以限制动平台的转动和增强动平台刚度;该空间并联闭链机构具有y、z方向的移动自由度;该工作台13具有沿x轴的移动自由度;关节型摆头111实现转动自由度为零;通过该工作台、动平台以及关节型摆头的复合运动,该装置实现卧式三轴联动控制运动。 [0031] The third branch comprising the bed, 117,118,119,120 rod, the connecting member 116 and the movable platform, in turn connected in series to form two parallelogram mechanism by the rotation movement of the sub-branch inclusive, the third branch connected between the movable platform and the bed; the third branch is branched follower for limiting the rotation of the movable platform and enhance the rigidity of the movable platform; the spatial parallel mechanism having a closed chain y, freedom of movement in the z-direction; the table 13 has freedom of movement along the x axis; 111 articulated swing rotational degrees of freedom to achieve zero; complexes move through the stage, the movable platform and an articulated swing, the apparatus achieve horizontal axis linkage control movement.

[0032] 实施例2 [0032] Example 2

[0033] 本实施例多轴混联装置的结构如图2所示,该装置与实施例1的不同之处是,工作台由绕z轴转动的平台221和沿x轴移动的平台222构成,平台221由伺服电机223驱动。 Structure [0033] Example embodiment of the present Hybrid multiaxial apparatus shown in Figure 2, the apparatus differs from the embodiment in Example 1, the table rotates about the z-axis by movement of the platform 221 and platform 222 along the x-axis configuration , platform 221 223 driven by a servo motor. 该工作台具有沿x轴的移动自由度与绕z轴的转动自由度。 Rotational degrees of freedom and freedom of movement around the z axis of the table along the x-axis. 本实施例的其它结构和工作过程与实施例1相同。 Other structures and operation of this embodiment is the same as in Example 1. 该装置实现卧式四轴联动控制运动。 The Horizontal Axis control means to achieve movement.

[0034] 实施例3 [0034] Example 3

[0035] 本实施例多轴混联装置的结构如图3所示,该装置与实施例1的不同之处是,所述第三支链通过床身的竖直外延32和水平外延31与动平台相连,关节型摆头33竖直放置,与该动平台固定连接,形成立式结构。 [0035] The configuration of the present embodiment, a multi-axis hybrid device shown in Figure 3, the apparatus is different from the embodiment 1, said third epitaxial branched vertical through the bed 32 and the horizontal extension of 31 is connected to the movable platform, the articulated swing upright 33, is fixedly connected to the movable platform, the vertical structure is formed. 本实施例的其它结构和工作过程与实施例1相同。 Other structures and operation of this embodiment is the same as in Example 1. 该装置可实现立式三轴联动控制。 The device may be controlled to achieve a vertical axis linkage.

[0036] 实施例4 [0036] Example 4

[0037] 本实施例多轴混联装置的结构如图4所示,该装置是在实施例3的基础上,关节型摆头44采用A/C主轴头,该主轴头实现绕z轴的转动自由度和绕平行于平面xoy的轴的转动自由度,即该关节型摆头44实现两个转动自由度。 [0037] The configuration of the present embodiment, a multi-axis hybrid device shown in Figure 4, the apparatus of Example 3 is based on the use of an articulated swing 44 A / C a spindle head, the spindle head about the z-axis to achieve rotational freedom and freedom of rotation parallel to the axis of the winding plane xoy, i.e., to achieve the two articulated swing 44 degrees of rotational freedom. 本实施例的其它结构和工作过程与实施例3相同。 The other structure and operation of the present embodiment is described in Example 3. 该装置实现立式五轴联动控制运动。 The five-axis control means to achieve vertical movement.

[0038] 实施例5 [0038] Example 5

[0039] 本实施例多轴混联装置的结构如图5所示,该装置与实施例1的不同之处是,所述第一、二支链由RPR型支链代替,其中伸缩外杆52与伸缩内杆53之间的移动副为主动驱动,立柱51与伸缩外杆52通过转动副相连,伸缩内杆53与动平台通过转动副相连。 Example multiaxial structure [0039] The hybrid device of the present embodiment shown in Figure 5, the apparatus is different from the embodiment 1 is that the first, two-chain branched-type is replaced by RPR, wherein the outer telescopic rod the rod 52 is connected to the telescopic movement between the sub 53 is actively driven, the telescopic upright 51 by rotating the outer lever 52 is connected to the sub, the telescopic rod 53 by rotating the movable platform.

[0040] 实施例6 [0040] Example 6

[0041] 本实施例新型多轴混联装置的结构如图6所示,该装置与实施例2的不同之处是,所述第一、二支链由RPR型支链代替,其中伸缩外杆62与伸缩内杆63之间的移动副为主动驱动,立柱61与伸缩外杆62通过转动副相连,伸缩内杆63与动平台通过转动副相连。 [0041] The configuration of the present embodiment of the new multi-axis hybrid apparatus shown in FIG. 6, the apparatus is different from the embodiment 2 that the first, two-chain branched-type is replaced by RPR, wherein the outer telescoping lever 62 is connected to the telescopic rod 63 is moved between the sub-active drive, the telescopic upright 61 by rotating the outer rod 62 is connected to the sub, the telescopic rod 63 by rotating the movable platform.

[0042] 实施例7 [0042] Example 7

[0043] 本实施例新型多轴混联装置的结构如图7所示,该装置与实施例3的不同之处是,所述第一、二支链由RPR型支链代替,其中伸缩外杆72与伸缩内杆73之间的移动副为主动驱动,立柱71与伸缩外杆72通过转动副相连,伸缩内杆73与动平台通过转动副相连。 Structure [0043] Example apparatus according to the present novel hybrid multi-shaft embodiment shown in Figure 7, the apparatus differs from Example 3 that the first, two-chain branched-type is replaced by RPR, wherein the outer telescoping and the sub-lever 72 moves between the inner telescopic rod 73 is actively driven, by the rotation of the sub 72 is connected to the column 71 and the outer telescopic rod, the telescopic rod 73 and is connected to the movable platform by rotating the sub.

[0044] 实施例8 [0044] Example 8

[0045] 本实施例新型多轴混联装置的结构如图8所示,该装置与实施例4的不同之处是,所述第一、二支链由RPR型支链代替,其中伸缩外杆82与伸缩内杆83之间的移动副为主动驱动,立柱81与伸缩外杆82通过转动副相连,伸缩内杆83与动平台通过转动副相连。 [0045] The new multi-axial structure of the embodiment of the present Hybrid device 8, which is different from the device of Example 4 is the first, two-chain branched-type is replaced by RPR, wherein the outer telescoping the telescopic rod 82 and the rod 83 is moved between the sub actively driven, and the outer column 81 is connected to the telescopic rod 82 by rotating the sub, the telescopic rod 83 and is connected to the movable platform by rotating the sub.

[0046] 以上各实施例所述第三支链的结构,也可由图9所示的移动滑块机构和平行四边形机构串联而成的运动支链实现,该支链包括床身95、两个连杆92、93、动平台91及一个移动滑块机构,该移动滑块机构包括滑块94与床身95,该滑块94与床身95通过移动副连接,两个连杆92、93及动平台91依次通过转动副首尾相连形成一个平行四边形机构。 The third configuration example of a branched chain [0046] each of the above embodiments, but also may be connected in series and move the slider mechanism parallelogram movement mechanism shown in FIG. 9 branched achieved, the branched chain comprises a bed 95, two links 92 and 93, the movable platform 91 and a slider moving mechanism, the moving mechanism includes a slider 94 and the slider bed 95, and the slider 94 moves the sub-bed 95 are connected by two links 92 and 93 and moving platform 91 are sequentially connected to form a parallelogram mechanism by rotating the sub inclusive.

Claims (5)

1、一种多轴联动混联装置,该装置包括床身、安装被切削工件的工作台、安装主轴的关节型摆头、动平台、第一条支链、第二条支链;该床身与工作台通过移动副连接,该安装主轴的关节型摆头与动平台固定连接,该第一、第二条支链分别连接于该床身与动平台之间;其特征在于,该装置还包括第三条支链,该第三条支链连接于该床身与动平台之间,所述第一、第二、第三条支链分别与床身、动平台连接形成一个空间并联闭链机构,该空间并联闭链机构用于实现二维移动自由度,该安装被切削工件的工作台用于实现一到二维自由度,该关节型摆头用于实现零到二维自由度,该工作台、空间并联闭链机构与关节型摆头的复合运动,实现至少三轴的联动控制。 A multi-axis hybrid apparatus comprising a bed, a table mounting a workpiece to be cut, mounted articulated swing shaft, the movable platform, the first branch, the second branch; the bed by moving body and the sub-table is connected to a main shaft mounted with an articulated swing the movable platform is fixedly connected to the first and second branches are connected between the bed and the movable platform; characterized in that the device further comprising a third branch, the third branch is connected between the bed and the movable platform, said first, second, third branches respectively connected to the bed, a space is formed in parallel to the moving platform closed chain, closed chain which space parallel for implementing a two-dimensional freedom of movement, which cutting a workpiece mounting table is used to implement a two-dimensional degree of freedom of the articulated swing zero for the two-dimensional free of the table, a space parallel closed chain with articulated swiveling movement of the composite, to achieve linkage control at least three axes.
2、如权利要求1所述的多轴联动混联装置,其特征在于,所述第一、第二条支链包括设置在床身上的对称布置的两根立柱、滑块、连杆、运动副及固定连接有关节型摆头的动平台;所述运动副有三个,一个是连接于该立柱与滑块之间移动副,一个是连接于该滑块与连杆之间转动副,另一个是连接于该连杆与动平台之间转动副,该支链为PRR型运动支链。 2, as claimed in claim 1, said multi-axis hybrid apparatus, wherein said first and second branches comprising, arranged in a symmetrical arrangement of the two shafts of the bed body, a slider, a link, movement and the sub-section is fixedly connected to the relevant swiveling type of moving platform; the three sub-motion, a mobile connected between the column and the sub-slider, is connected to a swivel joint between the slider and the link, the other It is connected to a swivel joint between the rod and the movable platform, which is a branched-chain branched-type exercise PRR.
3、如权利要求1所述的多轴联动混联装置,其特征在于,所述第一、第二条支链包括设置在床身上的对称布置的两根立柱、伸缩内杆、伸缩外杆、运动副及固定连接有关节型摆头的动平台;所述运动副有三个,一个是连接于该立柱与伸缩外杆之间转动副,一个是连接于该伸缩外杆与伸缩内杆之间移动副,另一个是连接于该伸缩内杆与动平台之间转动副,该支链为RPR型运动支链。 3, as claimed in claim 1, said multi-axis hybrid device, characterized in that the two shafts are arranged symmetrically bed body, said first inner telescopic rod, the second branch comprises, an outer telescopic rod Its movement and is fixedly connected to the articulated swing type movable platform; the three sub-motion, is connected to a swivel joint between the column and the outer telescopic rod, the one is connected to the outer telescopic rod and telescopic shaft movement between the sub and the other is connected to the swivel joint between the inner telescoping rod and the movable platform, the RPR branched chain branched-type motion.
4、如权利要求1所述的多轴联动混联装置,其特征在于,所述第三支链包括床身、四个连杆、连接体及该动平台,该床身、四个连杆、连接体及动平台依次通过转动副首尾相连形成两个平行四边形机构,该第三支链为该两个平行四边形机构串联而成的运动支链。 4, the multi-axis as claimed in claim 1 hybrid four link means, characterized in that said third branch comprising a bed, four links, the linker and the moving platform, the bed, , and the linker is connected to the movable platform are sequentially formed by two parallelogram mechanism turning pair end to end, that the third branch in series two parallelogram mechanism motion branches.
5、如权利要求1所述的多轴联动混联装置,其特征在于,所述第三支链包括床身、两个连杆、该动平台及一个移动滑块机构,该移动滑块机构包括滑块、床身与连接于该滑块和床身之间的移动副,该滑块、两个连杆及动平台依次通过转动副首尾相连形成一个平行四边形机构,该第三支链为该移动滑块机构和平行四边形机构串联而成的运动支链。 5, as claimed in claim 1 of the multi-axis movement of the slider linkage mechanism required hybrid device, characterized in that said third branch includes a bed, two links, the movable platform and a slider moving mechanism, It includes a slider, connected to the bed moving between the slider and the sub-bed, the slider, the movable platform and the two links are sequentially connected to form a parallelogram mechanism by rotation of the sub-head and tail, the third branched chain the slider moving mechanism and the parallelogram mechanism formed by a series of kinematic chain.
CN 200810113768 2008-05-30 2008-05-30 Multi-axes synchronous hybrid device CN100579719C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200810113768 CN100579719C (en) 2008-05-30 2008-05-30 Multi-axes synchronous hybrid device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 200810113768 CN100579719C (en) 2008-05-30 2008-05-30 Multi-axes synchronous hybrid device

Publications (2)

Publication Number Publication Date
CN101279425A true CN101279425A (en) 2008-10-08
CN100579719C CN100579719C (en) 2010-01-13

Family

ID=40012197

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 200810113768 CN100579719C (en) 2008-05-30 2008-05-30 Multi-axes synchronous hybrid device

Country Status (1)

Country Link
CN (1) CN100579719C (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102909569A (en) * 2012-11-01 2013-02-06 北京创航科技发展有限公司 1T2R three-degree of freedom spatial parallel mechanism
CN103273356A (en) * 2013-04-28 2013-09-04 清华大学 Multi-axis linkage mixed device based on four-freedom-degree parallel mechanism
CN103273329A (en) * 2013-05-07 2013-09-04 天津大学 Five-axis numerical control machine tool
CN103442842A (en) * 2011-01-26 2013-12-11 沃尔特机器制造有限责任公司 Machine for machining and/or measuring a workpiece, comprising two pivotable transverse members
CN103949957A (en) * 2014-04-21 2014-07-30 清华大学 Six-axis linkage hybrid connection device based on three-freedom-degree parallel mechanism
CN105666161A (en) * 2016-03-24 2016-06-15 褚宏鹏 Three-degree-of-freedom parallel-serial machine tool spindle head

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1127401C (en) 2001-02-27 2003-11-12 燕山大学 Three freedom moving parallel connected robot mechanism
CN2476392Y (en) 2001-04-30 2002-02-13 天津大学 Vertical three-translation freedom shun machine
US6808344B2 (en) 2002-12-27 2004-10-26 Jeng-Shyong Chen Multi-axis cartesian guided parallel kinematic machine
CN1261279C (en) 2004-03-01 2006-06-28 西安理工大学 Three-axle parallel mainshaft head structure for implementing multi-direction vertical-horizontal processing
CN1986148B (en) 2006-12-22 2010-05-19 清华大学 Parallel triaxial head structure

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103442842A (en) * 2011-01-26 2013-12-11 沃尔特机器制造有限责任公司 Machine for machining and/or measuring a workpiece, comprising two pivotable transverse members
CN103442842B (en) * 2011-01-26 2016-11-09 沃尔特机器制造有限责任公司 For processing and/or measuring machine and the machine module system of a workpiece
CN102909569A (en) * 2012-11-01 2013-02-06 北京创航科技发展有限公司 1T2R three-degree of freedom spatial parallel mechanism
CN102909569B (en) * 2012-11-01 2015-05-06 北京创航科技发展有限公司 1T2R three-degree of freedom spatial parallel mechanism
CN103273356A (en) * 2013-04-28 2013-09-04 清华大学 Multi-axis linkage mixed device based on four-freedom-degree parallel mechanism
CN103273356B (en) * 2013-04-28 2015-09-30 清华大学 A kind of multi-axes synchronous hybrid device based on four-freedom parallel mechanism
CN103273329A (en) * 2013-05-07 2013-09-04 天津大学 Five-axis numerical control machine tool
CN103273329B (en) * 2013-05-07 2015-06-17 天津大学 Five-axis numerical control machine tool
CN103949957A (en) * 2014-04-21 2014-07-30 清华大学 Six-axis linkage hybrid connection device based on three-freedom-degree parallel mechanism
CN103949957B (en) * 2014-04-21 2017-01-18 清华大学 Six-axis linkage hybrid connection device based on three-freedom-degree parallel mechanism
CN105666161A (en) * 2016-03-24 2016-06-15 褚宏鹏 Three-degree-of-freedom parallel-serial machine tool spindle head

Also Published As

Publication number Publication date
CN100579719C (en) 2010-01-13

Similar Documents

Publication Publication Date Title
CN100488735C (en) Two-degree-of-freedom plane parallel robot mechanism
CN100393484C (en) Three-translation and one-rotation parallel mechanism
CN101386150B (en) Numerical control polishing machine for optical elements
CN100395086C (en) Robot machanism able to achieve two-D movement and of two-freedom plane-parallel type
CN1238157C (en) Three -freedom redundancy parallel mechanism for realizing two -dimension translation and one dimension rotation
CN1730235A (en) Redundant parallel mechanism with six degrees of freedom
JP2002144176A (en) Machine tool
CN100480003C (en) Series parallel robot in five degrees of freedom
CN2796972Y (en) Structure of fire freedom space location robot
CN1238156C (en) Binary rotation- monotranslation three-freedom redundancy parallel mechanism for parallel machine tool
CN2936617Y (en) One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism
CN1267581A (en) Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation
CN1219627C (en) Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine
CN101407059B (en) Four-freedom degree industrial robot
CN201579789U (en) Three-rotational DOF parallel-connection robot
CN100446940C (en) Asymmetric space 5-degree of freedom series-parallel robot
CN1669694A (en) Parallel robot edge-coating system with a rotary table
CN201942330U (en) Four-spatial-activity controlled stacking robot
Kim et al. A new parallel mechanism machine tool capable of five-face machining
CN101844350B (en) Three freedom degree parallel robot mechanism
CN201711819U (en) Five-shaft linkage double-end grinding shaft numerical control tool grinding machine
EP2322342A1 (en) Machine for wrapping cylindrical composite parts
CN101559575A (en) Numerically controlled multi-functional surface grinding machine
CN101480734B (en) Composite machining center with hot displacement constraint skid revolving joint portion macro/micro drive
CN1255245C (en) 3-DOF parallel mechanisms for imaginary axis machine tool and measurer

Legal Events

Date Code Title Description
C06 Publication
C10 Request of examination as to substance
C14 Granted