CN104625198A - Three-degree-of-freedom parallel mechanism and machine tool adopting same - Google Patents
Three-degree-of-freedom parallel mechanism and machine tool adopting same Download PDFInfo
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- CN104625198A CN104625198A CN201410785100.XA CN201410785100A CN104625198A CN 104625198 A CN104625198 A CN 104625198A CN 201410785100 A CN201410785100 A CN 201410785100A CN 104625198 A CN104625198 A CN 104625198A
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 238000003801 milling Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 22
- 238000003754 machining Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000002195 synergetic effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000010079 rubber tapping Methods 0.000 description 6
- 208000032170 Congenital Abnormalities Diseases 0.000 description 4
- 230000007698 birth defect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C9/00—Details or accessories so far as specially adapted to milling machines or cutter
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Abstract
The invention relates to a three-degree-of-freedom parallel mechanism and a machine tool adopting the mechanism, belonging to the field of machinery manufacturing. The machine tool comprises the three-degree-of-freedom parallel mechanism, a portal frame and a base, wherein the portal frame is installed on the base through a screw rod and a guide rail; and the three-degree-of-freedom parallel mechanism is installed on the portal frame through screw rods and guide rails in pillars on two sides of the portal frame. The three-degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform, a first branch, a second branch and a third branch. The structures of the first branch and the second branch are exactly the same; and a three-degree-of-freedom movement form of the movable platform is achieved by the synergic movement of the first branch, the second branch and the third branch. The three-degree-of-freedom parallel mechanism in the machine tool provided by the invention has the characteristics of being simple and compact in structure, high in stiffness and load capacity, and small in mass of moving components, and achieving the high-speed movement, and the five-axis hybrid machine tool adopting the mechanism can meet the machining requirements for complex thin-walled parts in aviation.
Description
Technical field
The invention belongs to mechanical manufacturing field, particularly a kind of 3-freedom parallel mechanism and adopt the lathe of this mechanism.
Background technology
Since eighties of last century eighties, large-sized gantry formula five-shaft linkage numerically controlled machine obtains more and more extensive use in aircraft structure processing.The workbench of gantry machine tool, crossbeam and spindle unit realize the movement of X, Y, Z axis, add pendulum V shape or omnipotent yaw, realize two gyrations of A/C axle or A/B axle, form 5-shaft linkage numerical control lathe.Pendulum V shape or the advantage of omnipotent yaw are that the deflection angle of main shaft is larger, five processing of Rectangular Parts can be realized, although yaw can reach very high speed of gyration and acceleration on single axis, but cutter spatial orientation speed is still lower, because two of yaw gyrations are series connection, can not turn round completely simultaneously, can not reflect in time the compensating motion of lathe X, Y, Z axis line.Birth defect on this kinematics of mechanism, makes the yaw of pendulum V shape not exclusively be applicable to process aircraft structure.In addition, no matter put V shape or universal yaw, there are 3 motor yaw inside, and each motor needs to connect power supply, cooling, lubrication and cable or the pipeline such as position detection, also has position to rotate each other, connect and hermetically-sealed construction very complicated.Add that spindle drive motor inside also needs to configure blade clamping apparatus, cause nearly tens of, the various cable of yaw afterbody and pipeline, safeguard extremely inconvenience.
Parallel institution has multiple closed side chain minor structure, has a lot of advantage compared with traditional mechanism's (serial mechanism).As high rigidity, low inertia, high dynamic performance and high accuracy.Because parallel institution has these advantages, utilize parallel institution to develop main tapping and there is lot of advantages.This main tapping can be configured in and on the column of X axis movement, and can move as Y-direction along the linear guides on column, forms 5-shaft linkage numerical control lathe.
This lathe has the advantage of parallel institution and serial mechanism, and part in series can obtain larger working space, realizes the clamped one time to large scale part, machining; Yaw (parallel connection part) has the features such as high rigidity, high dynamic performance, realizes cutting the high accuracy of free form surface.Meanwhile, parallel institution yaw can overcome traditional pendulum V shape or universal yaw birth defect kinematically.Utilize this 5-shaft linkage numerical control machine tooling aircraft structure, in process, all working motions are all completed by the movement of process tool or rotation, and workpiece is motionless, and this is highly beneficial to the processing of Large Aircraft Structure part.
But, existing parallel institution main tapping configuration is less, and some configurations require the defects such as high, working space is less to assembly precision, the main tapping configuration causing having engineering practical value is less, hinders parallel institution main tapping and configures the development of 5-shaft linkage numerical control lathe of this main tapping.
Summary of the invention
The object of the invention is to propose one and there is high rigidity, low inertia, high dynamic performance, high accuracy characteristic, and there is the 3-freedom parallel mechanism of engineering practical value and adopt the lathe of this mechanism, overcome traditional pendulum V shape or universal yaw birth defect kinematically, meet that surface curve is complex-shaped, processing route is complicated, free form surface is many and the processing request of the Thin-walled Workpiece such as dimensional accuracy is high.
Technical solution of the present invention is:
A kind of 3-freedom parallel mechanism, it is characterized in that, 3-freedom parallel mechanism comprises fixed platform, moving platform, the first branch, the second branch and the 3rd branch; The first described branch comprises first connecting rod, the first slide block and the first ball pivot and the first revolute pair; First branch is identical with the second branched structure; 3rd branch comprises third connecting rod, the 3rd slide block, the first Hooke's hinge and the second Hooke's hinge; Described fixed platform comprises base, the first frame, the second frame and the 3rd frame; First frame, the second frame and the 3rd frame are separately installed with line slideway and leading screw; On the guide rail that first slide block is arranged on the first frame and leading screw, one end of first connecting rod is hinged by the first revolute pair and the first slide block; The other end of first connecting rod by the first ball pivot and moving platform hinged; On the guide rail that 3rd slide block is arranged on the 3rd frame and leading screw, one end of third connecting rod is hinged by the first Hooke's hinge and the 3rd slide block; The other end of third connecting rod by the second Hooke's hinge and moving platform hinged.
First connecting rod in the first described branch adopts the V-structure of square-section.
The cross section of the third connecting rod in the 3rd described branch adopts hollow, rectangular structure.
Described 3-freedom parallel mechanism and adopt the lathe of this mechanism to comprise 3-freedom parallel mechanism, portal frame and pedestal; Milling cutter and spindle motor are equipped with in the front end of moving platform, pedestal is provided with ball-screw and line slideway, portal frame is arranged on pedestal by ball-screw and line slideway, be respectively arranged with ball-screw and line slideway in two heel posts of portal frame, described 3-freedom parallel mechanism is arranged on portal frame by the ball-screw in portal frame two heel post and line slideway.
The present invention has the following advantages and the technique effect of high-lighting: owing to present invention employs 3-freedom parallel mechanism, this mechanism have simple and compact for structure, rigidity is high, load capacity is strong, heavy moving parts is little, be easy to realize the feature of high-speed motion, overcome traditional pendulum V shape or universal yaw birth defect kinematically, therefore, this lathe is made can to meet the processing request of, crudy complex-shaped to Thin-walled Workpiece, surface curve and required precision height parts.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure schematic diagram of 3-freedom parallel mechanism embodiment provided by the invention.
Fig. 2 is fixed platform example structure schematic diagram of the present invention.
Fig. 3 is the first branch embodiments structural representation of the present invention.
Fig. 4 is the 3rd branch embodiments structural representation of the present invention.
Fig. 5 is the three-dimensional structure schematic diagram of the lathe embodiment adopting 3-freedom parallel mechanism.
In figure: 1-fixed platform, 2-moving platform, 3-first branch, 4-second branch, 5-the 3rd branch, 6-portal frame, 7-pedestal, 101-first frame, 102-second frame, 103-the 3rd frame, 104-base, 301-first connecting rod, 302-first slide block, 303-first driver, 304-first ball pair, 305-first revolute pair, 501-third connecting rod, 502-the 3rd slide block, 503-first Hooke's hinge, 504-second Hooke's hinge, 505-the 3rd driver.
Detailed description of the invention
Below in conjunction with accompanying drawing, structure of the present invention, principle and detailed description of the invention are further illustrated.
Fig. 1 is the three-dimensional structure schematic diagram of 3-freedom parallel mechanism embodiment provided by the invention, and 3-freedom parallel mechanism comprises fixed platform 1, moving platform 2, first branch 4 of branch 3, second and the 3rd branch 5; Fixed platform 1 realizes moving platform 2 three-degree-of-freedom motion by the cooperative motion of the first branch 4 of branch 3, second, the 3rd branch 5.Fig. 2 is fixed platform example structure schematic diagram of the present invention, described fixed platform 1 comprises the first frame 101, second frame 102, the 3rd frame 103 and base 104, three frames are that equilateral triangle summit layout is fixedly mounted on base 104, and the first frame 101, second frame 102 and the 3rd frame 103 are respectively equipped with line slideway and ball-screw.Fig. 3 is the first branch embodiments structural representation of the present invention, and the first branch 3 comprises the first branch 3 and comprises first connecting rod 301, first slide block 302 and the first ball pivot 304 and the first revolute pair 305; On the line slideway that first slide block 302 is arranged on the first frame 101 and ball-screw, one end of first connecting rod 301 is hinged by the first revolute pair 305 and the first slide block 302; The other end of first connecting rod 301 is hinged with moving platform 2 by the first ball pivot 304; First branch 3 is identical with the second branch 4 structure; Fig. 4 is the 3rd branch embodiments structural representation of the present invention, and the 3rd described branch 5 comprises third connecting rod 501, the 3rd slide block 502, first Hooke's hinge 503 and the second Hooke's hinge 504; On the line slideway that 3rd slide block 502 is arranged on the 3rd frame 103 and ball-screw, one end of third connecting rod 501 by the first Hooke's hinge 503 and the 3rd slide block 502 hinged; The other end of third connecting rod 501 is hinged with moving platform 2 by the second Hooke's hinge 504; In the first described branch 3, first connecting rod 301 adopts the V-structure of square-section, adopts this structure can improve the rigidity of mechanism; In the 3rd described branch 5, the cross section of third connecting rod 501 is hollow, rectangular structure, can improve the rotational stiffness of rod member; 3rd slide block 502 can be driven by the 3rd driver 505 and carry out translational motion along guide rail relative to the 3rd frame 103.In the first described branch 3, the first slide block 302 can be driven by the first driver 303 and carry out translational motion along guide rail relative to the first frame 101.Above-mentioned fixed platform 1, moving platform 2, first branch 4 of branch 3, second and the 3rd branch 5 constitute space three-freedom connection-in-parallel mechanism jointly.
Fig. 5 is the three-dimensional structure schematic diagram of the lathe embodiment adopting 3-freedom parallel mechanism, and this lathe comprises fixed platform 1, branch 4 of moving platform 2, first branch 3, second, the 3rd branch 5, portal frame 6 and pedestal 7.Pedestal 7 is provided with line slideway, ball-screw and driver, portal frame 6 is arranged on pedestal 7 by ball-screw and line slideway, driver drives leading screw realizes the movement in portal frame 6 linearly guide rail direction, two heel posts of portal frame 6 are respectively equipped with line slideway, ball-screw and driver, fixed platform 1 is arranged in portal frame 6 by ball-screw and line slideway, driver drives ball-screw realizes the movement along portal frame 6 vertical direction, can complete the movement of fixed platform 1 both direction like this; Match with 3-freedom parallel mechanism again, make the moving platform 2 of lathe have the working ability of five degree of freedom, realize the Free-Form Surface Machining to workpiece to be processed.
In the course of work, first driver 303 of the first branch 3 drives the first slide block 302 of the first branch 3 to move as reciprocating linear in the first frame 101 by leading screw, in like manner, the driver of the second branch 4 drives the slide block of the second branch 4 to move back and forth in the second frame 102 by leading screw, and the 3rd driver 505 of the 3rd branch 5 drives the 3rd slide block 502 of the 3rd branch 5 to move as reciprocating linear in the 3rd frame 103 by leading screw.
The operation principle of the present embodiment is: the slide block in the first above-mentioned branch 4 of branch 3, second and the 3rd branch 5 carries out translational motion along guide rail relative to respective frame by driver drives; By the movement of slide block in the first branch 4 of branch 3, second and the 3rd branch 5, realize the cooperative motion of the first branch 4 of branch 3, second, the 3rd branch 5, and then control the three-degree-of-freedom motion of moving platform 2.Portal frame 6 is arranged on pedestal 7 by line slideway and ball-screw; The both sides that fixed platform 1 is equally arranged in portal frame 6 by line slideway and ball-screw realize the two-degrees-of-freedom plane motion of fixed platform, now, realize the five degree of freedom motion of moving platform 2.
Claims (4)
1. a 3-freedom parallel mechanism, it is characterized in that, 3-freedom parallel mechanism comprises fixed platform (1), moving platform (2), the first branch (3), the second branch (4) and the 3rd branch (5); Described the first branch (3) comprises first connecting rod (301), the first slide block (302) and the first ball pivot (304) and the first revolute pair (305); First branch (3) is identical with the second branch (4) structure; 3rd branch (5) comprises third connecting rod (501), the 3rd slide block (502), the first Hooke's hinge (503) and the second Hooke's hinge (504); Described fixed platform (1) comprises base (104), the first frame (101), the second frame (102) and the 3rd frame (103); First frame (101), the second frame (102) and the 3rd frame (103) are separately installed with line slideway and leading screw; On the guide rail that first slide block (302) is arranged on the first frame (101) and leading screw, one end of first connecting rod (301) is hinged by the first revolute pair (305) and the first slide block (302); The other end of first connecting rod (301) is hinged by the first ball pivot (304) and moving platform (2); On the guide rail that 3rd slide block (502) is arranged on the 3rd frame (103) and leading screw, one end of third connecting rod (501) is hinged by the first Hooke's hinge (503) and the 3rd slide block (502); The other end of third connecting rod (501) is hinged by the second Hooke's hinge (504) and moving platform (2).
2. a kind of 3-freedom parallel mechanism as claimed in claim 1, is characterized in that, the first connecting rod (301) in described the first branch (3) adopts the V-structure of square-section.
3. a kind of 3-freedom parallel mechanism as claimed in claim 1, is characterized in that, the cross section of the third connecting rod (501) in the 3rd described branch (5) adopts hollow, rectangular structure.
4. adopt 3-freedom parallel mechanism as described in any one of claims 1 to 3 and adopt the lathe of this mechanism, it is characterized in that, described lathe comprises 3-freedom parallel mechanism, portal frame (6) and pedestal (7); Milling cutter and spindle motor are equipped with in the front end of moving platform (2), (7) are provided with ball-screw and line slideway to pedestal, portal frame (6) is arranged on pedestal (7) by ball-screw and line slideway, be respectively arranged with ball-screw and line slideway in two heel posts of portal frame (6), described 3-freedom parallel mechanism is arranged on portal frame (6) by the ball-screw in portal frame (6) two heel post and line slideway.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410785100.XA CN104625198A (en) | 2014-12-16 | 2014-12-16 | Three-degree-of-freedom parallel mechanism and machine tool adopting same |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410785100.XA CN104625198A (en) | 2014-12-16 | 2014-12-16 | Three-degree-of-freedom parallel mechanism and machine tool adopting same |
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| CN104625198A true CN104625198A (en) | 2015-05-20 |
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| CN201410785100.XA Pending CN104625198A (en) | 2014-12-16 | 2014-12-16 | Three-degree-of-freedom parallel mechanism and machine tool adopting same |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107838908A (en) * | 2017-11-09 | 2018-03-27 | 中国地质大学（武汉） | A kind of six degree of freedom complex surface machining robot |
| CN108465929A (en) * | 2018-01-22 | 2018-08-31 | 清华大学 | A kind of agitating friction welder and the stirring friction welding system including it |
| CN111624722A (en) * | 2020-05-22 | 2020-09-04 | 中国科学院长春光学精密机械与物理研究所 | On-orbit maintainable secondary mirror adjusting mechanism |
-
2014
- 2014-12-16 CN CN201410785100.XA patent/CN104625198A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107838908A (en) * | 2017-11-09 | 2018-03-27 | 中国地质大学（武汉） | A kind of six degree of freedom complex surface machining robot |
| CN108465929A (en) * | 2018-01-22 | 2018-08-31 | 清华大学 | A kind of agitating friction welder and the stirring friction welding system including it |
| US11260469B2 (en) | 2018-01-22 | 2022-03-01 | Tsinghua University | Friction stir welding apparatus and friction stir welding system comprising the same |
| CN111624722A (en) * | 2020-05-22 | 2020-09-04 | 中国科学院长春光学精密机械与物理研究所 | On-orbit maintainable secondary mirror adjusting mechanism |
| CN111624722B (en) * | 2020-05-22 | 2021-05-14 | 中国科学院长春光学精密机械与物理研究所 | On-orbit maintainable secondary mirror adjusting mechanism |
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Application publication date: 20150520 |