CN103252683A - Five-freedom-degree parallel-serial numerically-controlled machine tool - Google Patents

Five-freedom-degree parallel-serial numerically-controlled machine tool Download PDF

Info

Publication number
CN103252683A
CN103252683A CN2013101645076A CN201310164507A CN103252683A CN 103252683 A CN103252683 A CN 103252683A CN 2013101645076 A CN2013101645076 A CN 2013101645076A CN 201310164507 A CN201310164507 A CN 201310164507A CN 103252683 A CN103252683 A CN 103252683A
Authority
CN
China
Prior art keywords
chain
linear drive
support frame
fork
machine tool
Prior art date
Application number
CN2013101645076A
Other languages
Chinese (zh)
Inventor
罗振军
黄田
田永利
陈落根
马跃
Original Assignee
天津大学
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 天津大学 filed Critical 天津大学
Priority to CN2013101645076A priority Critical patent/CN103252683A/en
Publication of CN103252683A publication Critical patent/CN103252683A/en

Links

Abstract

The invention discloses a five-freedom-degree parallel-serial numerically-controlled machine tool which comprises a stand column, a machine tool body, a working table and a machining unit. The machining unit comprises a supporting frame, a movable platform, a first branch chain, a second branch chain, a third branch chain and a positioning head, wherein a three-freedom-degree parallel mechanism is formed by the supporting frame, the first branch chain, the second branch chain, the third branch chain and the movable platform, the two-freedom-degree positioning head is further connected on the movable platform in series, when the machine tool is used for machining, the machining unit is driven by five driving devices to adjust gestures at the tail end, and therefore five-shaft linkage machining is achieved. The five-freedom-degree parallel-serial numerically-controlled machine tool is simple in structure, large in ratio of a working space to the mechanism size and high in rigidity and accuracy, has five freedom degrees, can achieve five-shaft linkage, and is suitable for numerically-controlled machining of complicated spatial curved surfaces and low in cost.

Description

A kind of five degree of freedom series-parallel connection Digit Control Machine Tool
Technical field
The present invention relates to a kind of Digit Control Machine Tool, particularly relate to a kind of five degree of freedom series-parallel connection Digit Control Machine Tool.
Background technology
In recent ten years, the parallel connection/series-parallel connection machining Digit Control Machine Tool is the hot subject that domestic and international Digit Control Machine Tool research field is paid special attention to.Parallel connection/series-parallel connection machining tool is compared with the Digit Control Machine Tool of traditional structure form has many advantages.Traditional machine tool is series connection, fisher's formula structure, in order to realize five processing, need on traditional Digit Control Machine Tool, increase by two axle control cutter-orientations or control workbench pose again, and these are all by the series connection arranged in form, therefore motional inertia is big when five-axle linkage, rigidity a little less than, dynamic property is relatively poor, terminal cutting precision is lower.And parallel machine is made up of moving platform, silent flatform and several simple series connection side chains, and series-parallel machine tool is parallel institution and located in series head composition, and simple in structure, working space is big with the ratio of mechanism's volume, the rigidity height, the precision height, flexibility is good, is fit to do the digital control processing of complex space curved surface.
By existing patent documentation CN1958229A, CN2476392A, CN1788899A and CN201744858U as can be known, an existing class parallel machine, formed by silent flatform, moving platform and several telescopic branched chains, the key issue that this several patents exists is: they have used ball pivot too much, cause that complete machine rigidity is low, precision is low.The existing described parallel machine of patent documentation CN101774128A, rod member and the hinge of use are more, complex structure, rigidity is not high, and working space is less.Existing patent documentation CN201324943Y and the described parallel machine of CN201833184U adopt Hooke's hinge, Three Degree Of Freedom rotating hinge or ball pivot in a large number, cause complex structure, complete machine rigidity poor.
By existing patent documentation GB2173472(or EP0200369, US4790718), SE8502327(or US4732525), CN1524662, CN1709657A, CN1439492A as can be known, the space series-parallel robot of an existing class band positioning head is used for digital control processing, comprises several adjusting devices that can elongate or shorten vertically; One end of described adjusting device is connected on the fixed mount by Hooke's hinge, and the other end of described adjusting device links to each other with moving platform by the three-rotational-freedom hinge, causes the integral rigidity of mechanism lower, and load capacity is relatively poor; Also added passive side chain in the patent that has and moving platform is rigidly connected, and be connected with fixed mount by Hooke's hinge, with certain several free degree of restriction positioning head.In this robotlike's structure, passive side chain not only makes mechanism become complicated, and moving link quantity is many, and it is interfered in motion process easily, has reduced working space.
Summary of the invention
The present invention provides a kind of five degree of freedom series-parallel connection Digit Control Machine Tool for solving the technical problem that exists in the known technology, this lathe has higher complete machine rigidity, precision and load capacity, and simple in structure, and cost is low, working space is big, can effectively improve machining efficient.
The technical scheme that the present invention takes for the technical problem that exists in the solution known technology is: a kind of five degree of freedom series-parallel connection Digit Control Machine Tool comprises column, lathe bed, workbench and machining cell; Described column is vertically fixed on the described lathe bed, and described stationary table is connected on the described lathe bed; Described machining cell comprises bracing frame, moving platform, first side chain, second side chain, the 3rd side chain and positioning head, and the support frame as described above vertical rotation is connected on the described lathe bed, is positioned at the right side of described column; Described first side chain comprises that a side chain level connects bearing pin, a side chain supporting plate, a side chain bearing and a side chain linear drive apparatus, and the output of a described side chain linear drive apparatus is connected with a described side chain supporting plate; A described side chain bearing and support frame as described above by with they all vertical two described side chain levels be connected bearing pin and be rotationally connected, the driving direction of the pivot center of a described side chain bearing and a described side chain linear drive apparatus and the pivot center of support frame as described above are all vertical, and an end of a described side chain supporting plate and the downside of described moving platform are affixed; Described second side chain comprises that two side chain levels connect bearing pin, two side chain supporting plates, two side chain bearings and two side chain linear drive apparatus, and the output of described two side chain linear drive apparatus is connected with described two side chain supporting plates; Described two side chain bearings and support frame as described above by with they all vertical two described two side chain levels be connected bearing pin and be rotationally connected, the driving direction of the pivot center of described two side chain bearings and described two side chain linear drive apparatus and the pivot center of support frame as described above are all vertical, and an end of described two side chain supporting plates and the upside of described moving platform are hinged; Described the 3rd side chain comprises that first fork configuration, three side chains connect bearing pin, three side chain supporting plates, three side chain bearings and three side chain linear drive apparatus, and the output of described three side chain linear drive apparatus is connected with described three side chain supporting plates; Described first fork configuration is provided with fork and shank, the fork of described first fork configuration portion within it is hinged by two described three side chains connection bearing pins and described three side chain bearings, the shank of described first fork configuration is connected with the revolute pair that passes on left of described column, an end of described three side chain supporting plates is connected by second fork configuration with described moving platform, described second fork configuration is provided with fork and shank, the fork of described second fork configuration is connected with described three side chain supporting plates by the left end hinge, the shank of described second fork configuration is connected with the left side of described moving platform by revolute pair, and all the driving direction with described three side chain linear drive apparatus is vertical with the pivot center of described left end hinge for the pivot center of described three side chains connection bearing pin; Described positioning head comprises outer support frame, interior support frame and electric main shaft, described outer support frame adopts fork configuration, described outer support frame is provided with the positioning head external hinge that is connected with described moving platform vertical rotation in the outside of fork configuration, described positioning head external hinge is by first driven by servomotor, and described first servomotor is installed on the described moving platform; Described outer support frame the inside of fork configuration by the positioning head internal hinge with described in support frame be connected, described interior support frame is connected by transmission mechanism with second servomotor, described second servomotor is installed on the described outer support frame; The pivot center of described positioning head internal hinge is vertical with the pivot center of described positioning head external hinge; Described electric main shaft is vertically mounted on the described interior support frame.
A described side chain linear drive apparatus comprises with a described side chain bearing by ring flange affixed hollow shaft motor, leading screw, nut, nut support seat and line slideway; The two ends of described leading screw all are fixed on the described side chain supporting plate; Described nut is connected with the output of described hollow shaft motor, described nut is by being threaded on the described leading screw, described nut is connected on the described nut support seat by revolute pair, the bottom of described nut support seat is connected with slide block, described slide block is installed on the described line slideway adaptive with it, and described line slideway is fixed on the described side chain supporting plate; Described leading screw passes described hollow shaft motor, a described side chain bearing and described nut support seat.
The back side of a described side chain supporting plate is provided with gusset, makes the cross section of a described side chain supporting plate T-shaped.
The structure of the structure of described two side chain linear drive apparatus and the described three side chain linear drive apparatus all structure with a described side chain linear drive apparatus is identical.
A described side chain linear drive apparatus, described two side chain linear drive apparatus and described three side chain linear drive apparatus are any one in linear electric motors, hydraulic cylinder and the cylinder.
Advantage and good effect that the present invention has are:
One) compare with the series connection lathe, simple in structure, working space is big with the ratio of mechanism's volume, the rigidity height, and the precision height, flexibility is good, is fit to do the digital control processing of complex space curved surface;
Two) owing to have only three active branched chain, reduce passive side chain, thereby reduced moving link quantity, reduced the complexity of mechanism, reduced cost;
Three) because first side chain and moving platform are rigidly connected, can realize direct measurement, thereby make complete machine have high-precision characteristics;
Four) have high rigidity, high accuracy and five degree of freedom, can realize 5-shaft linkage numerical control processing.
Description of drawings
Fig. 1 (a) and Fig. 1 (b) are structural representation of the present invention;
Fig. 2 is the structural representation of the present invention's first side chain.
The specific embodiment
For further understanding summary of the invention of the present invention, characteristics and effect, exemplify following examples now, and conjunction with figs. is described in detail as follows:
See also Fig. 1 (a) and Fig. 1 (b), direction hereinafter all is as the criterion with the direction among Fig. 1 (a).A kind of five degree of freedom series-parallel connection Digit Control Machine Tool comprises column 1, lathe bed 8, workbench 10 and machining cell; Described column 1 is vertically fixed on the described lathe bed 8, and described workbench 10 is fixedly connected on the described lathe bed 8; Described machining cell comprises bracing frame 2, moving platform 5, first side chain 3, second side chain 4, the 3rd side chain 7 and positioning head 9, and support frame as described above 2 vertical rotation are connected on the described lathe bed 8, is positioned at the right side of described column 1.In the present embodiment, support frame as described above 2 links to each other with lathe bed 8 by thrust ball bearing, and bracing frame 2 has a rotary freedom, and rotation is vertical with lathe bed 8.
See also Fig. 2, described first side chain 3 comprises that a side chain level connects bearing pin 36, a side chain supporting plate 32, a side chain bearing 35 and a side chain linear drive apparatus, and the output of a described side chain linear drive apparatus is connected with a described side chain supporting plate 32; A described side chain bearing 35 and support frame as described above 2 by with they all vertical two described side chain levels be connected bearing pin 36 and be rotationally connected, one end and a described side chain bearing 35 of one side chain level connection bearing pin 36 are affixed, and the other end is rotationally connected by bearing and support frame as described above 2.The driving direction of the pivot center of a described side chain bearing 35 and a described side chain linear drive apparatus and the pivot center of support frame as described above 2 are all vertical, and end of a described side chain supporting plate 32 and the downside of described moving platform 5 are affixed.In the present embodiment, a described side chain linear drive apparatus comprises the hollow shaft motor 34 affixed with a described side chain bearing 35, leading screw 31, nut 37, nut support seat 38 and line slideway 33, the two ends of described leading screw 31 all are fixed on the described side chain supporting plate 32, described nut 37 is connected with the output of described hollow shaft motor 34, described nut 37 is by being threaded on the described leading screw 31, described nut 37 is connected on the described nut support seat 38 by revolute pair, the bottom of described nut support seat 38 is connected with slide block, described slide block is installed on the line slideway adaptive with it 38, and described line slideway 38 is fixed on the described side chain supporting plate 32; Described leading screw 31 passes described hollow shaft motor 34, a described side chain bearing 35 and described nut support seat 38.Hollow shaft motor 34 drives nut 37 rotations, and nut 37 drives leading screw 31 and moves, and leading screw 31 drives a side chain supporting plate 32 and moves, and has so just realized the telescopic drive of first side chain.Specify that at the back side of a side chain supporting plate 32 gusset has been installed, having formed cross section is the supporting plate of T shape, this is because first side chain 3 is rigidly connected with moving platform 5, is bearing most of power and moment, arranges that T shape supporting plate is conducive to improve complete machine rigidity.Second and third side chain 4,7 is mainly used to adjust the moving platform attitude, and power and the moment of bearing are less, therefore can use the not supporting plate of sheet with rib.
The version of one side chain linear drive apparatus is not limited to said structure, can also be in linear electric motors, hydraulic cylinder and the cylinder any one.
Described second side chain 4 is with the something in common of described first side chain 3: described second side chain comprises that two side chain levels are connected bearing pin, two side chain supporting plates, two side chain bearings and two side chain linear drive apparatus, and the output of described two side chain linear drive apparatus is connected with described two side chain supporting plates; Described two side chain bearings and support frame as described above by with they all vertical two described two side chain levels be connected bearing pin and be rotationally connected, the driving direction of the pivot center of described two side chain bearings and described two side chain linear drive apparatus and the pivot center of support frame as described above are all vertical.
The difference of described second side chain and described first side chain is: an end of described two side chain supporting plates and the upside of described moving platform are hinged, and hinge is the revolute pair that bearing pin and bearing constitute.
Described the 3rd side chain 7 comprises that first fork configuration 6, three side chains connect bearing pin, three side chain supporting plates, three side chain bearings and three side chain linear drive apparatus, and the output of described three side chain linear drive apparatus is connected with described three side chain supporting plates; Described first fork configuration is provided with fork and shank, the fork of described first fork configuration 6 portion within it is hinged by two described connection bearing pins and described three side chain bearings, the shank of described first fork configuration 6 is connected with the revolute pair that passes on left of described column 1, an end of described three side chain supporting plates is connected by second fork configuration with described moving platform 5, described second fork configuration is provided with fork and shank, the fork of described second fork configuration is connected with described three side chain supporting plates by the left end hinge, the shank of described second fork configuration is connected by the left side of revolute pair with described moving platform 5, and all the driving direction with described three side chain linear drive apparatus is vertical with the pivot center of described left end hinge for the pivot center of described three side chains connection bearing pin.
Scheme is preferably: all the structure with a described side chain linear drive apparatus is identical for the structure of the structure of described two side chain linear drive apparatus and described three side chain linear drive apparatus.
Described positioning head 9 comprises outer support frame 92, interior support frame 95 and electric main shaft 94, described outer support frame 92 adopts fork configuration, described outer support frame 92 is provided with the positioning head external hinge that is connected with described moving platform 5 vertical rotation in the outside of its fork configuration, described positioning head external hinge is driven by first servomotor 91, and described first servomotor 91 is installed on the described moving platform 5; Described outer support frame 92 the inside of its fork configuration by the positioning head internal hinge with described in support frame 95 be connected, support frame 95 is connected by transmission mechanism with second servomotor 93 in described, and described second servomotor 93 is installed on the described outer support frame 92; The pivot center of described positioning head internal hinge is vertical with the pivot center of described positioning head external hinge; Described electric main shaft 94 is vertically mounted on the described interior support frame 95.
Above-mentioned positioning head 9 has two rotational freedoms, adopts modularized design, and outer support frame 92 and moving platform 5 are connected by bearing, by 91 drivings of first servomotor; Interior support frame 95 is installed on the outer support frame 92, support frame 95 rotations in controlling by second servomotor 93 and gear drive, and interior support frame 95 is used for installing electric main shaft 94; The rotation of inside and outside support frame is vertical.
In machining cell, bracing frame 2, first side chain 3, second side chain 4, the 3rd side chain 7 and moving platform 5 have formed 3-freedom parallel mechanism, again at two-freedom positioning head 9 of moving platform 5 series connection, lathe has five drive units to drive machining cells to adjust terminal attitude adding man-hour, thereby realizes five-axle linkage processing.
More than be schematically to the description of the present invention and embodiment thereof, do not have restricted, also one of the embodiments of the present invention just shown in the accompanying drawing, practical structures is not limited thereto.So; if those of ordinary skill in the art is enlightened by it; under the situation that does not break away from the invention aim; adopt other forms of side chain, drive unit, hinge to connect and positioning head; without Creative Design; propose frame mode and the embodiment similar to technique scheme, all should belong to protection scope of the present invention.

Claims (5)

1. a five degree of freedom series-parallel connection Digit Control Machine Tool is characterized in that, comprises column, lathe bed, workbench and machining cell; Described column is vertically fixed on the described lathe bed, and described stationary table is connected on the described lathe bed;
Described machining cell comprises bracing frame, moving platform, first side chain, second side chain, the 3rd side chain and positioning head, and the support frame as described above vertical rotation is connected on the described lathe bed, is positioned at the right side of described column;
Described first side chain comprises that a side chain level connects bearing pin, a side chain supporting plate, a side chain bearing and a side chain linear drive apparatus, and the output of a described side chain linear drive apparatus is connected with a described side chain supporting plate; A described side chain bearing and support frame as described above by with they all vertical two described side chain levels be connected bearing pin and be rotationally connected, the driving direction of the pivot center of a described side chain bearing and a described side chain linear drive apparatus and the pivot center of support frame as described above are all vertical, and an end of a described side chain supporting plate and the downside of described moving platform are affixed;
Described second side chain comprises that two side chain levels connect bearing pin, two side chain supporting plates, two side chain bearings and two side chain linear drive apparatus, and the output of described two side chain linear drive apparatus is connected with described two side chain supporting plates; Described two side chain bearings and support frame as described above by with they all vertical two described two side chain levels be connected bearing pin and be rotationally connected, the driving direction of the pivot center of described two side chain bearings and described two side chain linear drive apparatus and the pivot center of support frame as described above are all vertical, and an end of described two side chain supporting plates and the upside of described moving platform are hinged;
Described the 3rd side chain comprises that first fork configuration, three side chains connect bearing pin, three side chain supporting plates, three side chain bearings and three side chain linear drive apparatus, and the output of described three side chain linear drive apparatus is connected with described three side chain supporting plates; Described first fork configuration is provided with fork and shank, the fork of described first fork configuration portion within it is hinged by two described three side chains connection bearing pins and described three side chain bearings, the shank of described first fork configuration is connected with the revolute pair that passes on left of described column, an end of described three side chain supporting plates is connected by second fork configuration with described moving platform, described second fork configuration is provided with fork and shank, the fork of described second fork configuration is connected with described three side chain supporting plates by the left end hinge, the shank of described second fork configuration is connected with the left side of described moving platform by revolute pair, and all the driving direction with described three side chain linear drive apparatus is vertical with the pivot center of described left end hinge for the pivot center of described three side chains connection bearing pin;
Described positioning head comprises outer support frame, interior support frame and electric main shaft, described outer support frame adopts fork configuration, described outer support frame is provided with the positioning head external hinge that is connected with described moving platform vertical rotation in the outside of fork configuration, described positioning head external hinge is by first driven by servomotor, and described first servomotor is installed on the described moving platform; Described outer support frame the inside of fork configuration by the positioning head internal hinge with described in support frame be connected, described interior support frame is connected by transmission mechanism with second servomotor, described second servomotor is installed on the described outer support frame; The pivot center of described positioning head internal hinge is vertical with the pivot center of described positioning head external hinge; Described electric main shaft is vertically mounted on the described interior support frame.
2. five degree of freedom series-parallel connection Digit Control Machine Tool according to claim 1 is characterized in that, a described side chain linear drive apparatus comprises hollow shaft motor, leading screw, nut, nut support seat and the line slideway affixed with a described side chain bearing;
The two ends of described leading screw all are fixed on the described side chain supporting plate;
Described nut is connected with the output of described hollow shaft motor, described nut is by being threaded on the described leading screw, described nut is connected on the described nut support seat by revolute pair, the bottom of described nut support seat is connected with slide block, described slide block is installed on the described line slideway adaptive with it, and described line slideway is fixed on the described side chain supporting plate;
Described leading screw passes described hollow shaft motor, a described side chain bearing and described nut support seat.
3. five degree of freedom series-parallel connection Digit Control Machine Tool according to claim 1 is characterized in that the back side of a described side chain supporting plate is provided with gusset, makes the cross section of a described side chain supporting plate T-shaped.
4. five degree of freedom series-parallel connection Digit Control Machine Tool according to claim 1 and 2 is characterized in that, all the structure with a described side chain linear drive apparatus is identical for the structure of the structure of described two side chain linear drive apparatus and described three side chain linear drive apparatus.
5. five degree of freedom series-parallel connection Digit Control Machine Tool according to claim 1, it is characterized in that a described side chain linear drive apparatus, described two side chain linear drive apparatus and described three side chain linear drive apparatus are any one in linear electric motors, hydraulic cylinder and the cylinder.
CN2013101645076A 2013-05-07 2013-05-07 Five-freedom-degree parallel-serial numerically-controlled machine tool CN103252683A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2013101645076A CN103252683A (en) 2013-05-07 2013-05-07 Five-freedom-degree parallel-serial numerically-controlled machine tool

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2013101645076A CN103252683A (en) 2013-05-07 2013-05-07 Five-freedom-degree parallel-serial numerically-controlled machine tool

Publications (1)

Publication Number Publication Date
CN103252683A true CN103252683A (en) 2013-08-21

Family

ID=48957078

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2013101645076A CN103252683A (en) 2013-05-07 2013-05-07 Five-freedom-degree parallel-serial numerically-controlled machine tool

Country Status (1)

Country Link
CN (1) CN103252683A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104001974A (en) * 2014-05-22 2014-08-27 上海交通大学 Parallel-connection rotation-translation decoupling machining equipment for milling large-size thin-wall component
CN105364913A (en) * 2015-11-25 2016-03-02 燕山大学 Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism
CN105563205A (en) * 2016-02-04 2016-05-11 燕山大学 Four-branch swallow-shaped five-axis machining equipment
CN106584432A (en) * 2016-12-22 2017-04-26 芜湖哈特机器人产业技术研究院有限公司 Five degree-of-freedom serial-parallel robot
CN106623993A (en) * 2016-11-30 2017-05-10 长春理工大学 Three-freedom-degree parallel spindle head mechanism suitable for horizontal machining
CN107671845A (en) * 2017-11-10 2018-02-09 燕山大学 A kind of few joint Planar Mechanisms series parallel robot in five degrees of freedom
EP3195988A4 (en) * 2015-07-09 2018-04-04 Tianjin University Five-degree-of-freedom parallel robot with multi-shaft rotary brackets

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW372305B (en) * 1996-08-13 1999-10-21 Shou-Hong Ling Computer-controlled interactive motion simulation mechanism
US6047610A (en) * 1997-04-18 2000-04-11 Stocco; Leo J Hybrid serial/parallel manipulator
WO2005025816A1 (en) * 2003-09-16 2005-03-24 Tianjin University A robot with five-freedom mix couple structure
CN1709657A (en) * 2005-07-11 2005-12-21 天津大学 Robot with five degrees of freedom
CN2936617Y (en) * 2006-07-31 2007-08-22 华南理工大学 One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism
CN101049692A (en) * 2007-04-20 2007-10-10 天津大学 Series parallel robot in five degrees of freedom
CN101498515A (en) * 2009-02-10 2009-08-05 江苏工业学院 Parallel type solar two-axis tracing mechanism
CN202004581U (en) * 2011-04-20 2011-10-05 汪保卫 Linear actuator
CN102672709A (en) * 2012-05-18 2012-09-19 天津大学 Five-freedom-degree hybrid robot
CN102699898A (en) * 2012-06-06 2012-10-03 天津大学 Five-degree-of-freedom over-constrained hybrid robot
CN202462908U (en) * 2012-02-23 2012-10-03 郑州振东科技有限公司 Screw press
CN102768166A (en) * 2012-07-30 2012-11-07 常兴 Micro water density measuring device

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW372305B (en) * 1996-08-13 1999-10-21 Shou-Hong Ling Computer-controlled interactive motion simulation mechanism
US6047610A (en) * 1997-04-18 2000-04-11 Stocco; Leo J Hybrid serial/parallel manipulator
WO2005025816A1 (en) * 2003-09-16 2005-03-24 Tianjin University A robot with five-freedom mix couple structure
CN1709657A (en) * 2005-07-11 2005-12-21 天津大学 Robot with five degrees of freedom
CN2936617Y (en) * 2006-07-31 2007-08-22 华南理工大学 One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism
CN101049692A (en) * 2007-04-20 2007-10-10 天津大学 Series parallel robot in five degrees of freedom
CN101498515A (en) * 2009-02-10 2009-08-05 江苏工业学院 Parallel type solar two-axis tracing mechanism
CN202004581U (en) * 2011-04-20 2011-10-05 汪保卫 Linear actuator
CN202462908U (en) * 2012-02-23 2012-10-03 郑州振东科技有限公司 Screw press
CN102672709A (en) * 2012-05-18 2012-09-19 天津大学 Five-freedom-degree hybrid robot
CN102699898A (en) * 2012-06-06 2012-10-03 天津大学 Five-degree-of-freedom over-constrained hybrid robot
CN102768166A (en) * 2012-07-30 2012-11-07 常兴 Micro water density measuring device

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104001974A (en) * 2014-05-22 2014-08-27 上海交通大学 Parallel-connection rotation-translation decoupling machining equipment for milling large-size thin-wall component
CN104001974B (en) * 2014-05-22 2016-04-27 上海交通大学 For the rotary movement-translation decoupling zero process unit in parallel of large thin-wall component milling
EP3195988A4 (en) * 2015-07-09 2018-04-04 Tianjin University Five-degree-of-freedom parallel robot with multi-shaft rotary brackets
CN105364913A (en) * 2015-11-25 2016-03-02 燕山大学 Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism
CN105364913B (en) * 2015-11-25 2017-03-22 燕山大学 Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism
CN105563205A (en) * 2016-02-04 2016-05-11 燕山大学 Four-branch swallow-shaped five-axis machining equipment
CN106623993A (en) * 2016-11-30 2017-05-10 长春理工大学 Three-freedom-degree parallel spindle head mechanism suitable for horizontal machining
CN106584432A (en) * 2016-12-22 2017-04-26 芜湖哈特机器人产业技术研究院有限公司 Five degree-of-freedom serial-parallel robot
CN107671845A (en) * 2017-11-10 2018-02-09 燕山大学 A kind of few joint Planar Mechanisms series parallel robot in five degrees of freedom
WO2019091425A1 (en) * 2017-11-10 2019-05-16 燕山大学 Few-joint over-constrained five-freedom-degree hybrid connection robot

Similar Documents

Publication Publication Date Title
CN103707296B (en) A kind of four axis robot for capturing sheet metal component
CN103737577B (en) A kind of Six-DOF industrial robot driven containing ball screw assembly,
CN201808063U (en) Six-degrees-of-freedom parallel robot device
CN100480003C (en) Series parallel robot in five degrees of freedom
CN205817837U (en) A kind of six-degree-of-freedom parallel connection mechanism supported with auxiliary
CN102166751B (en) Branched chain-less and six-freedom degree parallel manipulator
CN103737587B (en) Intelligence five axis robot
CN102059697B (en) Translating branch chain and parallel robot using same
CN201841545U (en) Three-rotation one-movement freedom parallel robot with driving telescopic rod
CN204772545U (en) Improvement structure of five manipulators of intelligence
CN203254166U (en) Double-shaft working table for teaching
CN201889705U (en) Automatic multi-station honing machine
CN105500338A (en) Double-arm SCARA (selective compliance assembly robot arm) industrial robot
CN103101050B (en) Novel plane two-degree-of-freedom redundant drive parallel moving platform
CN101161428B (en) Plane parallel mechanism with constrained branched chain and its extended mechanical hand
CN103753521B (en) A kind of pinion and-rack four-degree-of-freedom high speed parallel robot
CN202580477U (en) Spiral pipe robot
CN203697006U (en) Intelligent five-shaft manipulator
CN102699898B (en) Five-degree-of-freedom over-constrained hybrid robot
CN104191434A (en) Hollow series-connection mechanical arm
WO2020125044A1 (en) Four degrees of freedom parallel robot provided with dual moving platform structure
CN201618973U (en) Tool rotary switchboard of horizontal processing center
CN103640028A (en) Novel plane articulated robot structure
CN104608116A (en) Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism
CN207290102U (en) A kind of production line automatic Picking manipulator

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20130821

C02 Deemed withdrawal of patent application after publication (patent law 2001)