CN101612732B - Planar type numerical control parallel motion and operation equipment - Google Patents
Planar type numerical control parallel motion and operation equipment Download PDFInfo
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- CN101612732B CN101612732B CN2009101813130A CN200910181313A CN101612732B CN 101612732 B CN101612732 B CN 101612732B CN 2009101813130 A CN2009101813130 A CN 2009101813130A CN 200910181313 A CN200910181313 A CN 200910181313A CN 101612732 B CN101612732 B CN 101612732B
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- adjustable
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- slide block
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Abstract
The invention relates to planar type numerical control parallel motion and operation equipment, which comprises two fixed guide rails, two sliding blocks, two adjustable long connecting rods, a tail end operator, an operation platform, a stander and the like; after the inner ends of the two adjustable long connecting rods are connected by a rotating pair, two outer ends of the two adjustable longconnecting rods are connected with the two sliding blocks by the rotating pair; the two sliding blocks and the two guide rails form a moving pair respectively; and the tail end operator is fixed on one connecting rod, wherein the two fixed guide rails are parallely arranged on the same horizontal plane or in a general space; the projection space between the two fixed guide rails on the horizontalplane is the length difference between the two adjustable long connecting rods; the operation platform can be arranged below/above the guide rails, or can be arranged between the two guide rails; andan adjustable structure of the adjustable long connecting rods can be formed by an adjusting rod of which two ends are provided with left or right external threads and a section of connecting rod of which one end is internally provided with left or right internal threads, or can be formed by an adjusting rod of which one end is provided with the left or right external threads and a section of connecting rod of which one end is internally provided with the left or right internal threads. The device has simple structure, easy manufacture and simple and convenient operation, and is a novel high-efficiency numerical control device with wide range of processing and operation.
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, comprise two fixed guides, two slide blocks, adjustable long master connecting-rod, the auxilliary connecting rod of adjustable length, end-effector, job platform and frames, one end of the auxilliary connecting rod of adjustable length is with after adjustable long master connecting-rod is connected with revolute pair, and its other end is connected with slide block one usefulness revolute pair; And an end of adjustable long master connecting-rod fixed installation end-effector, the other end is connected with slide block dual-purpose revolute pair, slide block one, slide block two constitute moving sets with two fixed guides respectively, 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 adjustable long master connecting-rod and adjustable length is assisted length poor of the adjustable-length section of connecting rod; Job platform both can be arranged in the below/top of two fixed guides, also can be arranged between two fixed guides; The adjustable structure of adjustable-length section, both can have left and right externally threaded adjusting rod respectively and constitute with two sections rod members of built-in left and right internal thread respectively and be threaded, also can have a left side or right externally threaded adjusting rod and constitute with one section rod member of a built-in left side or right internal thread and be threaded by an end 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, comprise two fixed guide KK ', LL ', slide block one S, slide block two T, adjustable long master connecting-rod 1, adjustable length auxilliary connecting rod 2, end-effector P, job platform M and frame Q, one end of the auxilliary connecting rod 2 of adjustable length is with after adjustable long master connecting-rod 1 usefulness revolute pair B is connected, and its other end is connected with revolute pair A with slide block one S; And an end of adjustable long master connecting-rod 1 fixed installation end-effector P, the other end is connected with revolute pair C with slide block two T, slide block one S and fixed guide KK ' formation moving sets, slide block two T and fixed guide LL ' formation moving sets; 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
1Poor for length BC, the AB of adjustable long master connecting-rod 1 and the adjustable-length section of the auxilliary connecting rod 2 of adjustable length, i.e. L
1=BC-AB; Assist the below that connecting rod 2, all revolute pairs and end-effector P all are positioned at two secured in parallel guide rails because of adjustable long master connecting-rod 1, adjustable length, 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 the adjustable-length section of the auxilliary connecting rod 2 of adjustable long master connecting-rod 1 and adjustable length, both can have left and right externally threaded adjusting rod 3 respectively by two ends constitutes with two sections rod members 4,5 of built-in left and right internal thread respectively and is threaded, shown in Fig. 2 (a), also can have a left side or right externally threaded adjusting rod 6 by an end constitutes with one section rod member 7 of a built-in left side or right internal thread and is threaded, shown in Fig. 2 (b), as long as rotary regulating lever 3 or 6 length that can regulate automatically between the adjustable-length section.
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, on the adjustable long master connecting-rod 1 the operation track curve mm ' of 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 ', what straight path m ' m ' left a closed slide KK ' wherein depends on angle theta between adjustable long master connecting-rod 1 and the auxilliary connecting rod 2 of adjustable length (being defined as from the auxilliary connecting rod 2 of adjustable length counterclockwise around to the angle between the adjustable long master connecting-rod 1) apart from l, when θ=0 °, l is maximum, i.e. l
Max=AB+BP is shown in Fig. 3 (b);
3) when θ=0 during, shown in Fig. 3 (b),, can realize from X by controlling two slide block S, T left and right sides intervening portion ° promptly when the auxilliary connecting rod 2 overlapping conllinear of adjustable long master connecting-rod 1 and adjustable length
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 auxilliary connecting rod 2 of adjustable length with the stretching conllinear of adjustable long master connecting-rod 1, shown in Fig. 3 (d), it is long with the bar of adjustable-length section BC, the AB of the auxilliary connecting rod 2 of adjustable length to regulate adjustable long master connecting-rod 1 on this position respectively, promptly rotate the adjusting rod 3 (as shown in Figure 2) of its adjustable structure respectively, and make BC bar length foreshorten to B ' C ', AB bar length rises to A ' B ', and makes A ' B '-B ' C '=L
1, shown in Fig. 3 (e); Further, on this position,, make it cross double line A '-B '-C ', so that this equipment can be with X to Lower Half by the auxilliary connecting rod 2 of control adjustable long master connecting-rod 1 or adjustable length
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=0 °; At this moment, adjustable long master connecting-rod 1 and the auxilliary overlapping once more conllinear of connecting rod 2 of adjustable length 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 comprises two fixed guide KK ', LL ', slide block one S, slide block two T, adjustable long master connecting-rod 1, adjustable length auxilliary connecting rod 2, end-effector P, job platform M and frame Q, one end of the auxilliary connecting rod 2 of adjustable length is with after adjustable long master connecting-rod 1 usefulness revolute pair B is connected, and its other end is connected with revolute pair A with slide block one S; And an end of adjustable long master connecting-rod 1 fixed installation end-effector P, the other end is connected with revolute pair C with slide block two T; Slide block one S and fixed guide KK ' formation moving sets, slide block two T and fixed guide LL ' formation moving sets; 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
1Poor for length BC, the A B of adjustable long master connecting-rod 1 and the adjustable-length section of the auxilliary connecting rod 2 of adjustable length, 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 realizing of working space greatly to the adjustable structure of the adjustable-length section of the auxilliary connecting rod 2 of adjustable long master connecting-rod 1 and adjustable length, 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, comprise two fixed guides (KK ', LL '), slide block one (S), slide block two (T), adjustable long master connecting-rod (1), the auxilliary connecting rod (2) of adjustable length, end-effector (P), job platform (M) and frame (Q), the end that adjustable length is assisted connecting rod (2) is with after adjustable long master connecting-rod (1) is connected with revolute pair (B), and its other end is connected with revolute pair (A) with slide block one (S); And an end of adjustable long master connecting-rod (1) fixed installation end-effector (P), the other end is connected with revolute pair (C) with slide block two (T); Slide block one (S) constitutes moving sets with a fixed guide (KK '), slide block two (T) constitutes moving sets with another fixed guide (LL '), it is characterized in that described two fixed guides (KK ', LL ') are arranged in parallel in the same horizontal plane at H place overhead, and what spacing was an adjustable long master connecting-rod (1) with the length (BC, AB) of the adjustable-length section of the auxilliary connecting rod (2) of adjustable length is poor, and described job platform (M) is positioned at the below or the top of two fixed guides.
2. planar type numerical control parallel motion and operation equipment, comprise two fixed guides (KK ', LL '), slide block one (S), slide block two (T), adjustable long master connecting-rod (1), the auxilliary connecting rod (2) of adjustable length, end-effector (P), job platform (M) and frame (Q), the end that adjustable length is assisted connecting rod (2) is with after adjustable long master connecting-rod (1) is connected with revolute pair (B), and its other end is connected with revolute pair (A) with slide block one (S); And an end of adjustable long master connecting-rod (1) fixed installation end-effector (P), the other end is connected with revolute pair (C) with slide block two (T), slide block one (S) constitutes moving sets with a fixed guide (KK '), slide block two (T) and another fixed guide (LL ') constitute moving sets, it is characterized in that described two fixed guides (KK ', LL ') are 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
1Poor for the length (BC, A B) of the adjustable-length section of the auxilliary connecting rod (2) of adjustable long master connecting-rod (1) and adjustable length, the height and position of described job platform (M) are positioned between the vertical direction of two fixed guides (KK ', LL ').
3. by claim 1 or 2 described planar type numerical control parallel motion and operation equipments, the adjustable structure that it is characterized in that the adjustable-length section of the auxilliary connecting rod (2) of described adjustable long master connecting-rod (1) and adjustable length, it has a left side or right externally threaded adjusting rod (3) respectively by two ends and constitutes with two sections rod members (4,5) of a built-in left side or right internal thread respectively and be threaded, or has a left side or right externally threaded adjusting rod (6) is threaded with one section rod member (7) formation of a built-in left side or right internal thread by an end.
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 CN101612732A (en) | 2009-12-30 |
| CN101612732B true CN101612732B (en) | 2010-10-13 |
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ID=41492704
Family Applications (1)
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101612732B (en) |
Families Citing this family (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 |
| 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 |
-
2009
- 2009-07-17 CN CN2009101813130A patent/CN101612732B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN101612732A (en) | 2009-12-30 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
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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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101013 Termination date: 20150717 |
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| EXPY | Termination of patent right or utility model |