CN101612732A - A kind of planar type numerical control parallel motion and operation equipment - Google Patents
A kind of planar type numerical control parallel motion and operation equipment Download PDFInfo
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- CN101612732A CN101612732A CN200910181313A CN200910181313A CN101612732A CN 101612732 A CN101612732 A CN 101612732A CN 200910181313 A CN200910181313 A CN 200910181313A CN 200910181313 A CN200910181313 A CN 200910181313A CN 101612732 A CN101612732 A CN 101612732A
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- connecting rod
- long connecting
- fixed guides
- adjustable long
- adjustable
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Abstract
A kind of planar type numerical control parallel motion and operation equipment, form by two fixed guides, two slide blocks, two adjustable long connecting rods, end-effector, job platform and frames etc., two adjustable long connecting rods are held within it with after the revolute pair connection, its two outer end is connected with revolute pair with two slide blocks respectively, and two slide blocks and two fixed guides constitute moving sets respectively, and end-effector is fixed on the connecting rod.Wherein, two fixed guides are arranged in parallel in same horizontal plane or in the general space, and the projection spacing of two fixed guides on horizontal plane is the poor of two adjustable long connecting rod length; Job platform both can be arranged in the below/top of guide rail, also can be arranged between two guide rails; The adjustable structure of adjustable long connecting rod, both can have a left side or right externally threaded adjusting rod and constitute with two sections connecting rods of a built-in left side or right internal thread respectively, also can constitute by one section connecting rod that an end has a left side or right externally threaded adjusting rod and the built-in left side of an end or a right internal thread by two ends.This apparatus structure is simple, easy to manufacture, and is easy and simple to handle, is a kind of new and effective numerical control device that can process, operate on a large scale.
Description
Technical field
The present invention relates to a kind of planar type numerical control parallel motion and operation equipment, specifically provide a kind of new and effective numerical control device for machining, the operation of various industry on a large scale.
Background technology
Industrial often need various simple in structure, the operation of planar type numerical control on a large scale of low cost of manufacture, the for example processing of metal cutting on a large scale, welding, the nonmetallic materials cutting, measure, spraying, operations such as engraving, existing serial machine people operator complex structure, poor rigidity, dynamic response performance is poor, and general parallel operation hand, comprise that the various two-degree-of-freedom plane operators of two slide blocks on same guide rail are (as patent application document [200420083801.0], [200710177514.4] etc.), working space is little, for this reason, need invention to provide simple in structure, processing ease, the planar type numerical control parallel motion and operation method of operation on a large scale and the equipment thereof of low cost of manufacture.
Summary of the invention
The objective of the invention is to invent a kind of digital-control type of operation on a large scale parallel motion and operation equipment, it mainly is made up of two fixed guides, two slide blocks, two adjustable long connecting rods, end-effector, job platform and frames etc., two adjustable long connecting rods are held within it with after the revolute pair connection, its two outer end is connected with revolute pair with two slide blocks respectively, and two slide blocks and two fixed guides constitute moving sets respectively, and end-effector is fixed on the connecting rod.Wherein, two fixed guides are arranged in parallel, both can be in same horizontal plane, also can be in general space, and the projection spacing of two fixed guides on horizontal plane is the poor of two adjustable long connecting rod length; Job platform both can be positioned at below, the top of guide rail, also can be between two guide rails; The adjustable structure of adjustable long connecting rod, both can have a left side or right externally threaded adjusting rod and constitute with two sections connecting rods of a built-in left side or right internal thread respectively, also can constitute by one section connecting rod that an end has a left side or right externally threaded adjusting rod and the built-in left side of an end or a right internal thread by two ends.The advantage of this device is: simple in structure, easy to manufacture, easy and simple to handle, can realize the operation of various digital control processings on a large scale and industry.
Description of drawings
Accompanying drawing 1 is three view schematic diagrames of first kind of example structure of the present invention.
Accompanying drawing 3 is the plane operations schematic diagram of first kind, second kind embodiment of the present invention.
Accompanying drawing 4 is the plane operations working space schematic diagram of first kind, second kind embodiment of the present invention.
Accompanying drawing 5 is three view structure schematic diagrames of second kind of embodiment of the present invention.
The specific embodiment
Fig. 1 is used for first embodiment of planar type numerical control parallel motion and operation on a large scale for the present invention, it is made up of two fixed guide KK ' and LL ', two slide block S and T, two adjustable long connecting rod AB and BC, end-effector P, job platform M and frame Q etc., after two adjustable long connecting rod AB, BC hold the B place to connect with revolute pair within it, its two outer end A, C are connected with revolute pair with two slide block S, T respectively, and two slide block S, T and two fixed guide KK ', LL ' constitute moving sets respectively, and end-effector P is fixed on the connecting rod BC; Two fixed guide KK ', LL ' are arranged in parallel in the same horizontal plane at liftoff H place, and two end K, K ' support the horizontal plane parallel distance L of two fixed guides respectively with L, L ' with frame Q
1Be the poor of two adjustable long connecting rod length BC and AB, i.e. L
1=BC-AB; Two adjustable long connecting rod AB of cause and BC, all revolute pairs and end-effector P are positioned at the below of two secured in parallel guide rails, so job platform M is positioned at the below of guide rail, otherwise job platform M also can be above two fixed guides.
The adjustable structure of two adjustable long connecting rod AB, BC, both can have a left side or right externally threaded adjusting rod 1 by two ends constitutes with two sections connecting rods 2,3 of the built-in left side of an end or right internal thread respectively, shown in Fig. 2 (a), also can constitute by the connecting rod 2 that an end has a left side or right externally threaded adjusting rod 1 and the built-in left side of an end or a right internal thread, shown in Fig. 2 (b), as long as the bar that rotary regulating lever 1 can be regulated between connecting rod two ends automatically is long.
Its operation principle can be set forth like this by the flow process shown in Fig. 3 (a)～Fig. 3 (h), and gets the long AB＜BC of bar, and two fixed guide horizontal plane spacing L
1=BC-AB.
1) when 3 of configuration A-B-C arrange clockwise, controls two slide block S, T, get different speed V
S, V
TThe time, the operation track curve mm ' that connecting rod BC goes up end-effector P be upper left protruding to, shown in Fig. 3 (a);
2) speed as control two slide block S, T equates, i.e. V
S=V
TThe time, then end-effector P goes through long apart from straight path m ' m ', the distance of a closed slide KK ' wherein of leaving straight path m ' m ' depends on angle theta between two connecting rod AB, the BC (being defined as from connecting rod AB counterclockwise around to the angle between the connecting rod BC), when θ=0 °, l is maximum, i.e. l
Max=AB+BP is shown in Fig. 3 (b);
3) when θ=0 ° is connecting rod AB and the overlapping conllinear of BC bar, shown in Fig. 3 (b),, can realize from X by controlling two slide block S, T left and right sides intervening portion
1OY
1Configuration A-B-C on the zone (Fig. 4) arranges (Fig. 3 (a)) clockwise, is converted to Y
1OX
2A-B-C on the zone (Fig. 4) arranges counterclockwise, shown in Fig. 3 (c), continues control two slide block S, T, gets different speed V
S, V
TThe time, thus make operation track curve m ' m of end-effector P be upper right protruding to, this equipment can be with X like this
1-O-X
2Work fully in the whole first half operating area for axis, as shown in Figure 4;
4) when θ=180 °, when being the stretching conllinear of connecting rod AB and BC bar, shown in Fig. 3 (d), bar at this position adjusted two connecting rod AB, BC is long, promptly rotate the adjusting rod 1 (as shown in Figure 2) of its adjustable structure respectively, and making AB bar length rise to A ' B ', BC bar length foreshortens to B ' C ', and makes A ' B '-B ' C '=L
1, shown in Fig. 3 (e); Further, on this position, by control link A ' B ' or B ' C ', make it cross double line A '-B '-C ', so that this equipment can be with X to Lower Half
1-O-X
2Work in the Lower Half operating area for axis (as Fig. 4);
5) at this moment, shown in Fig. 3 (f), configuration A '-B '-3 of C ' arrange clockwise, similarly control the speed of two slide block S, T, work as V respectively
S≠ V
TThe time, the operation track curve nn ' that makes end-effector P for the bottom right protruding to; Work as V
S=V
TThe time, to go through longly apart from straight line n ' n ', the ultimate range that straight path n ' n ' leaves closed slide KK ' is A ' B '+B ' P, shown in Fig. 3 (g), θ=360 °; At this moment, the overlapping once more conllinear of two connecting rod A ' B ', B ' C ' can be controlled two slide block S, T left and right sides intervening portion once more on this position, finish from X
2OY
2Configuration A '-B '-C ' on the zone (Fig. 4) arranges (as Fig. 3 (f)) clockwise, is converted to X
1OY
2The configuration A '-B '-C ' of zone on (Fig. 4) arrange counterclockwise, realize at last geometric locus n ' n be the lower-left protruding to, shown in Fig. 3 (h), like this, this equipment has been realized again with X
1-O-X
2Be the complete work operations in the whole Lower Half operating area of axis, as shown in Figure 4.
So by aforesaid operations principle and the flow process from Fig. 3 (a)～Fig. 3 (h), this equipment can be realized the operation plane domain of big working space, as shown in Figure 4.
Accompanying drawing 5 is used for second embodiment of planar type numerical control parallel motion and operation on a large scale for the present invention, it is made up of two fixed guide KK ', LL ', two slide block S, T, two adjustable long connecting rod AB, BC, end-effector P, job platform M and frame Q etc., after two adjustable long connecting rod AB, BC hold the B place to connect with revolute pair within it, its two outer end A, C are connected with revolute pair with two slide block S, T respectively, and two slide block A, C and two fixed guide KK ', LL ' constitute moving sets respectively, and end-effector P is fixed on the connecting rod BC; Two fixed guide KK ', LL ' are arranged in vertical direction at a distance of L
0, the projection on the horizontal plane is at a distance of L
1Three dimensions in, two end K, K ' and L, L ' support with frame Q respectively, and the spacing L of horizontal plane projection
1Be the poor of two adjustable long connecting rod length BC and AB, i.e. L
1=BC-AB, but the height and position of job platform M must be between the vertical direction of two fixed guides.
Its operation principle is with the operation principle of first embodiment, referring to Fig. 3 (a)～Fig. 3 (h); Also with the adjustable structure (as shown in Figure 2) of first embodiment, this equips the operation plane domain of the big working space of realizing to the adjustable structure of two adjustable long connecting rod AB, BC, also as shown in Figure 4.
End-effector P among above-mentioned two embodiment can be cutting milling cutter, drill bit, cutter, icking tool, can be again gage outfit, spray gun, welding gun etc.; What drive two slide block S, T moving linearly both can be ball-screw, synchronous band, linear electric motors or digital liquid gas pressure push rod isoline telecontrol equipment.
In summary, this apparatus structure is simple, easy to manufacture, and is easy to operate, for a kind ofly be suitable for processing on a large scale, the new and effective numerical control device of various industry operation.
Claims (3)
1. planar type numerical control parallel motion and operation equipment, by two fixed guides (KK ', LL '), two slide block (S, T), two adjustable long connecting rod (AB, BC), end-effector (P), job platform (M) and frame compositions such as (Q), two adjustable long connecting rod (AB, BC) after end (B) connects with revolute pair within it, its two outer end (A, C) respectively with two slide block (S, T) connect with revolute pair, and two slide block (A, C) with two fixed guides (KK ', LL ') constitutes moving sets respectively, end-effector (P) is fixed on the connecting rod (BC), it is characterized in that described two fixed guides (KK ', LL ') is arranged in parallel in the same horizontal plane at H place overhead, and spacing is two adjustable long connecting rod length (BC, AB) poor, described job platform (M) is positioned at the below or the top of guide rail.
2. planar type numerical control parallel motion and operation equipment, by two fixed guides (KK ', LL '), two slide block (S, T), two adjustable long connecting rod (AB, BC), end-effector (P), job platform (M) and frame compositions such as (Q), two adjustable long connecting rod (AB, BC) after end (B) connects with revolute pair within it, its two outer end (A, C) respectively with two slide block (S, T) connect with revolute pair, and two slide block (S, T) with two fixed guides (KK ', LL ') constitutes moving sets respectively, end-effector (P) is fixed on the connecting rod (BC), it is characterized in that described two fixed guides (KK ', LL ') is arranged in parallel in vertical direction at a distance of L
0, horizontal plane projection spacing is at a distance of L
1Three dimensions in, and the spacing L of horizontal plane projection
1Be the poor of two adjustable long connecting rod length (BC, AB), the height and position of described job platform (M) is positioned between the vertical direction of two fixed guides (KK ', LL ').
3. by claim 1,2 described planar type numerical control parallel motion and operation equipments, the adjustable structure of described two adjustable long connecting rods (AB, BC), it is characterized in that having a left side or right externally threaded adjusting rod (1) by two ends constitutes with two sections connecting rods (2,3) of a built-in left side or right internal thread respectively, or constitute by one section connecting rod (2) that an end has a left side or right externally threaded adjusting rod (1) and a built-in left side or a right internal thread.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101813130A CN101612732B (en) | 2009-07-17 | 2009-07-17 | Planar type numerical control parallel motion and operation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101813130A CN101612732B (en) | 2009-07-17 | 2009-07-17 | Planar type numerical control parallel motion and operation equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101612732A true CN101612732A (en) | 2009-12-30 |
| CN101612732B CN101612732B (en) | 2010-10-13 |
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ID=41492704
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101813130A Expired - Fee Related CN101612732B (en) | 2009-07-17 | 2009-07-17 | Planar type numerical control parallel motion and operation equipment |
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| Country | Link |
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| CN (1) | CN101612732B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947736A (en) * | 2010-08-19 | 2011-01-19 | 常州大学 | Three-slider planar parallel connection numerical control operating platform |
| CN102085660A (en) * | 2011-02-23 | 2011-06-08 | 常州大学 | Three-degree-of-freedom decoupling hybrid robot |
| CN110936365A (en) * | 2019-12-18 | 2020-03-31 | 北京航空航天大学 | Adjustable stiffness actuator based on reconfigurable adjustable length guide rod mechanism |
-
2009
- 2009-07-17 CN CN2009101813130A patent/CN101612732B/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947736A (en) * | 2010-08-19 | 2011-01-19 | 常州大学 | Three-slider planar parallel connection numerical control operating platform |
| CN102085660A (en) * | 2011-02-23 | 2011-06-08 | 常州大学 | Three-degree-of-freedom decoupling hybrid robot |
| CN110936365A (en) * | 2019-12-18 | 2020-03-31 | 北京航空航天大学 | Adjustable stiffness actuator based on reconfigurable adjustable length guide rod mechanism |
| CN110936365B (en) * | 2019-12-18 | 2021-05-25 | 北京航空航天大学 | Adjustable stiffness actuator based on reconfigurable adjustable length guide rod mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101612732B (en) | 2010-10-13 |
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Assignee: Changzhou Shenli Mold Co., Ltd. Assignor: Jiangsu Polytechnic University Contract record no.: 2011320000187 Denomination of invention: Planar type numerical control parallel motion and operation equipment Granted publication date: 20101013 License type: Exclusive License Open date: 20091230 Record date: 20110308 |
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Granted publication date: 20101013 Termination date: 20150717 |
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