CN104625767A - Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space - Google Patents
Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space Download PDFInfo
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- CN104625767A CN104625767A CN201510009279.4A CN201510009279A CN104625767A CN 104625767 A CN104625767 A CN 104625767A CN 201510009279 A CN201510009279 A CN 201510009279A CN 104625767 A CN104625767 A CN 104625767A
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- freedom
- hinge
- slide block
- space
- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
- B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
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- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space. The parallel mechanism comprises a movable platform in the shape of an equilateral triangle, a static platform in the shape of an equilateral triangle and three branch chains connecting the movable platform and the static platform. Each branch chain comprises a connecting rod, one end of each connecting rod is connected with one corner of the movable platform through a first hinge with two rotation degrees of freedom, and the inner side of each connecting rod is provided with a linear guide rail. A sliding block is arranged on each linear guide rail in a sliding mode, a driving device for driving the corresponding sliding block to move on the corresponding linear guide rail is firmly fixed to and connected to each branch chain, and each sliding block is connected with one corner of the static platform through a second hinge with two rotation degrees of freedom.
Description
Technical field
The present invention relates to a kind of parallel institution with space two rotation and a translational degree of freedom being applied to hybrid CNC machine tool, belong to mechanical manufacturing field.
Background technology
Parallel institution has compact conformation, modular capability is good, rigidity mass ratio is large, and be easy to the advantage realizing high-speed motion, but parallel institution working space is limited, and usually need to adopt machining accuracy to be comparatively difficult to ensure the kinematic pair of ball pivot as its necessity of card, this constrains its development in mechanical manufacturing field to a certain extent.In recent years, some series-parallel connection manufacturing equipments based on minority carrier generation lifetime obtain successful Application in the industry, as the five axle series-parallel connection machining centers based on Tricept mechanism, with based on the Ecospeed five axle series-parallel connection machining center etc. of Sprint Z3 main tapping.Hybrid mechanism has the advantages such as the large and parallel institution compact conformation of serial mechanism working space, dynamic response characteristic are good concurrently, and the five-axle linkage high speed that can realize large working space cuts Milling Machining, is applicable to the processing being applied to Space Free-Form Surface type component.
US Patent No. 6431802 discloses a kind of space two rotation-translation parallel institution common at present, and it is 3PRS configuration, is applied to series-parallel machine tool field.This parallel institution specifically comprises the identical and side chain distributed axisymmetricly of silent flatform, moving platform and three structures, and each side chain comprises a moving sets, a revolute pair and a ball pivot successively; Wherein, moving sets is driver element, is coordinated with silent flatform by guide rail; Revolute pair and ball pivot are passive unit, and ball pivot connects corresponding connecting rod and moving platform.
Said mechanism have employed that rotational angle is limited and precision is comparatively difficult to ensure that the ball pivot of card is as kinematic pair, and this had both limited the angle range of its end moving platform, likely produced uncertain impact to MECHANISM PRECISION again.
Summary of the invention
For the problems referred to above, the object of this invention is to provide a kind ofly can effectively increase moving platform pivot angle scope and ensure the Spatial Parallel system of moving platform kinematic accuracy.
For achieving the above object, the present invention is by the following technical solutions: a kind of have space two and rotate and the parallel institution of a translational degree of freedom, it is characterized in that, it comprises a moving platform, in equilateral triangle is connected described moving platform and described silent flatform with three side chain in the silent flatform of equilateral triangle; Each side chain includes a connecting rod, one end of described connecting rod has an angle of moving platform described in the first chain connection of two rotational freedoms by one, described in each, the inner side of connecting rod all arranges a line slideway, line slideway described in each is all mounted slidably a slide block, side chain described in each is fastenedly connected one for driving the drive unit of described slide block movement on described line slideway, slide block described in each is all by an angle of silent flatform described in second chain connection with two rotational freedoms.
The position at the place, three angles of described silent flatform is all with a unfilled corner, three described unfilled corners define the platform that three are evenly arranged in described silent flatform side, platform described in each is fastenedly connected a U-shaped part, described slide block is by two external parts of U-shaped part described in above-mentioned second chain connection.
The pivot center of described second hinge near described silent flatform one end is parallel with the thickness direction of described silent flatform, the pivot center of described second hinge near described slide block one end is vertical with the pivot center of described second hinge near described silent flatform one end, and vertical with the length direction of described connecting rod.
The pivot center of described first hinge near described connecting rod one end is parallel with the pivot center of described second hinge near described slide block one end, and the pivot center of described first hinge near described moving platform one end is vertical with the pivot center of described first hinge near described connecting rod one end.
Described second hinge is a Hooke's hinge or is combined by two revolute pairs.
Described first hinge is a Hooke's hinge or is combined by two revolute pairs.
Described drive unit comprises one and is fastenedly connected the servomotor on described fixed mount, and the output of described servomotor connects described slide block by a ball screw assembly.
Described drive unit comprises one and is fastenedly connected the elongated linear electric motor primary on described fixed mount, and described linear electric motor primary arranges a straight line motor secondary, and the secondary and described slide block of described linear electric motors is fastenedly connected.
The present invention is owing to taking above technical scheme, it has the following advantages: 1, moving platform of the present invention and silent flatform are all in equilateral triangle, moving platform is connected side chain with three angle correspondences of silent flatform, three side chains distribute axisymmetricly, and on the connecting rod of side chain, be fastenedly connected the drive unit of slide block, decrease the transmission link between drive unit and moving platform, effectively can reduce the power required for drive unit and size, thus reduce quality and the inertia of whole parallel-connection structure.2, one end of each connecting rod of the present invention is connected with moving platform by the first hinge that has two rotational freedoms, each slide block is connected with silent flatform by the second hinge that has two rotational freedoms, therefore the total movement chain that parallel institution of the present invention comprises all does not adopt ball pivot, and then ensure that moving platform can obtain higher angle range and good output accuracy.The present invention can be widely used in five-axle linkage hybrid CNC machine tool, and the five-axle linkage hybrid CNC machine tool that lathe of the present invention is developed has can to efficient, the high accuracy working ability of complex free curved surface class part.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the structural representation of side chain of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in Figure 1, the present invention includes moving platform 1, silent flatform 2 in equilateral triangle in equilateral triangle is connected moving platform 1 and silent flatform 2 side chain 3 with three.
As shown in Figure 1 and Figure 2, each side chain 3 comprises a connecting rod 4, one end of connecting rod 4 connects an angle of moving platform 1 by the hinge 5 that has two rotational freedoms, all arrange a line slideway 6, each line slideway 6 is all mounted slidably a slide block 7 in the inner side of each connecting rod 4.Each side chain 3 is also fastenedly connected a drive unit for driving slide block 7 to carry out movement on line slideway 6.The hinge 8 that each slide block 7 all has two frees degree by one connects an angle of silent flatform 2.
In above-described embodiment, the position at the place, three angles of silent flatform 2, all with a unfilled corner, defines the platform that three are evenly arranged in silent flatform 2 side, and each platform is all fastenedly connected a U-shaped part 9, and slide block 7 connects two external parts of U-shaped part 9 by hinge 8.
Three identical side chains 3 of the present invention are connected to form a Spatial closed loop with moving platform 1, silent flatform 2, drive moving platform 1 to move, realize two rotational freedoms and a translational degree of freedom of moving platform 1 by the input motion of three slide blocks 7.
In above-described embodiment, as shown in Figure 1 and Figure 2, the pivot center CC ' of hinge 8 near silent flatform 2 one end is parallel with the axes O P of silent flatform 2 through-thickness, the pivot center AA ' of hinge 8 near slide block 7 one end is vertical with the pivot center CC ' of hinge 8 near silent flatform one end, and vertical with connecting rod 4 symmetry axis axis E E ' along its length; The pivot center BB ' of hinge 5 near connecting rod 4 one end is parallel with the pivot center AA ' of hinge 8 near slide block 7 one end, and the pivot center DD ' of hinge 5 near moving platform 1 one end is vertical with the pivot center BB ' of hinge 5 near connecting rod 4 one end.Two rotational freedoms that hinge 8 has can be combined by two revolute pairs, also can be a Hooke's hinge, but the direction of the pivot center AA ' of two rotational freedoms and CC ' need meet aforesaid restriction relation; Two rotational freedoms that hinge 5 has can be combined by two revolute pairs, also can be a Hooke's hinge, but the direction of the pivot center BB ' of two rotational freedoms and DD ' need meet aforesaid restriction relation.
In above-described embodiment, drive unit can comprise one and be fastenedly connected the servomotor 10 on connecting rod 4, and the output of servomotor 10 is by ball screw assembly, 11 connection sliding block 7.As a kind of distressed structure of drive unit, it also can comprise one and be fastenedly connected the elongated linear electric motor primary on connecting rod 4, and linear electric motor primary arranges a straight line motor secondary, and linear electric motors are secondary to be fastenedly connected with slide block 7.Certainly, in specific implementation process, adopt other any one can realize same movement function form be all fine.
The present invention utilizes two rotational freedoms in every bar side chain 3 between connecting rod 4 and moving platform 1, two rotational freedoms between slide block 7 and silent flatform 2, and a translational degree of freedom between slide block 7 and connecting rod 4, make moving platform 1 can realize moving relative to the space two rotation-translation of silent flatform 2.Wherein, two rotational freedoms are that x-axis in Fig. 1 and y-axis rotate, and a translational degree of freedom is along z-axis direction translation in Fig. 1.Simultaneously, the present invention can adopt modularized design, by the series connection mobile platform orthogonal with two of the mechanical interface on silent flatform 2 with the use of, and then form the series-parallel connection digital control processing unit of five-axle linkage, wherein, part 12 in Fig. 1 is machine tool chief axis, can mounting cutter complete workpiece to be added cut milling task.
The present invention is only described with above-described embodiment; the structure of each parts, setting position and connection thereof all can change to some extent; on the basis of technical solution of the present invention; all improvement of carrying out individual part according to the principle of the invention and equivalents, all should not get rid of outside protection scope of the present invention.
Claims (10)
1. have space two to rotate and the parallel institution of a translational degree of freedom, it is characterized in that, it comprises a moving platform, in equilateral triangle is the silent flatform of equilateral triangle is connected described moving platform and described silent flatform side chain with three;
Each side chain includes a connecting rod, one end of described connecting rod has an angle of moving platform described in the first chain connection of two rotational freedoms by one, described in each, the inner side of connecting rod all arranges a line slideway, line slideway described in each is all mounted slidably a slide block, side chain described in each is fastenedly connected one for driving the drive unit of described slide block movement on described line slideway, slide block described in each is all by an angle of silent flatform described in second chain connection with two rotational freedoms.
2. a kind of as claimed in claim 1 have space two and rotate and the parallel institution of a translational degree of freedom, it is characterized in that, the position at the place, three angles of described silent flatform is all with a unfilled corner, three described unfilled corners define the platform that three are evenly arranged in described silent flatform side, platform described in each is fastenedly connected a U-shaped part, described slide block is by two external parts of U-shaped part described in above-mentioned second chain connection.
3. a kind of as claimed in claim 1 or 2 have space two and rotate and the parallel institution of a translational degree of freedom, it is characterized in that, the pivot center of described second hinge near described silent flatform one end is parallel with the thickness direction of described silent flatform, the pivot center of described second hinge near described slide block one end is vertical with the pivot center of described second hinge near described silent flatform one end, and vertical with the length direction of described connecting rod.
4. a kind of as claimed in claim 3 have space two and rotate and the parallel institution of a translational degree of freedom, it is characterized in that, the pivot center of described first hinge near described connecting rod one end is parallel with the pivot center of described second hinge near described slide block one end, and the pivot center of described first hinge near described moving platform one end is vertical with the pivot center of described first hinge near described connecting rod one end.
5. a kind of as claimed in claim 3 have space two and rotate and the parallel institution of a translational degree of freedom, and it is characterized in that, described second hinge is a Hooke's hinge or is combined by two revolute pairs.
6. a kind of as claimed in claim 4 have space two and rotate and the parallel institution of a translational degree of freedom, and it is characterized in that, described first hinge is a Hooke's hinge or is combined by two revolute pairs.
7. a kind of parallel institution with space two rotation and a translational degree of freedom as described in claim 1 or 2 or 4 or 5 or 6, it is characterized in that, described drive unit comprises one and is fastenedly connected the servomotor on described fixed mount, and the output of described servomotor connects described slide block by a ball screw assembly.
8. a kind of as claimed in claim 3 have space two and rotate and the parallel institution of a translational degree of freedom, it is characterized in that, described drive unit comprises one and is fastenedly connected the servomotor on described fixed mount, and the output of described servomotor connects described slide block by a ball screw assembly.
9. a kind of parallel institution with space two rotation and a translational degree of freedom as described in claim 1 or 2 or 4 or 5 or 6, it is characterized in that, described drive unit comprises one and is fastenedly connected the elongated linear electric motor primary on described fixed mount, described linear electric motor primary arranges a straight line motor secondary, and the secondary and described slide block of described linear electric motors is fastenedly connected.
10. a kind of as claimed in claim 3 have space two and rotate and the parallel institution of a translational degree of freedom, it is characterized in that, described drive unit comprises one and is fastenedly connected the elongated linear electric motor primary on described fixed mount, described linear electric motor primary arranges a straight line motor secondary, and the secondary and described slide block of described linear electric motors is fastenedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510009279.4A CN104625767B (en) | 2015-01-08 | 2015-01-08 | Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510009279.4A CN104625767B (en) | 2015-01-08 | 2015-01-08 | Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space |
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| CN104625767A true CN104625767A (en) | 2015-05-20 |
| CN104625767B CN104625767B (en) | 2017-01-18 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364913A (en) * | 2015-11-25 | 2016-03-02 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| CN106624835A (en) * | 2017-01-17 | 2017-05-10 | 山东科技大学 | Micro precision machine tool capable of finishing machining free curved surface at time |
| 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 |
| CN109955284A (en) * | 2019-03-11 | 2019-07-02 | 燕山大学 | Two turn of one shift three degrees of freedom device for force feedback |
| CN110253539A (en) * | 2019-06-06 | 2019-09-20 | 同济大学 | A kind of complete cycle 3-freedom parallel mechanism |
| CN114523464A (en) * | 2022-03-07 | 2022-05-24 | 山东科技大学 | Five-freedom-degree series-parallel hybrid robot |
| WO2023169377A1 (en) * | 2022-03-07 | 2023-09-14 | 诺创智能医疗科技(杭州)有限公司 | Multi-degree-of-freedom master manipulators, robot, and minimally invasive robotic surgery system |
| CN117506871A (en) * | 2023-12-15 | 2024-02-06 | 天津大学 | Three-degree-of-freedom parallel mechanism, parallel robot and machine tool |
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| CN102490179A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom |
| CN102601795A (en) * | 2012-03-29 | 2012-07-25 | 天津大学 | Power head capable of realizing five-shaft linkage operation |
| CN102615643A (en) * | 2012-03-29 | 2012-08-01 | 天津大学 | Four-degree-of-freedom parallel manipulator |
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| US6431802B1 (en) * | 1998-11-03 | 2002-08-13 | Ds Technologie Werkzeugmaschinenbau Gmbh | Articulated tool head |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN106624835A (en) * | 2017-01-17 | 2017-05-10 | 山东科技大学 | Micro precision machine tool capable of finishing machining free curved surface at time |
| CN109955284A (en) * | 2019-03-11 | 2019-07-02 | 燕山大学 | Two turn of one shift three degrees of freedom device for force feedback |
| CN109955284B (en) * | 2019-03-11 | 2020-11-27 | 燕山大学 | Force feedback device with two rotations and one movement and three degrees of freedom |
| CN110253539A (en) * | 2019-06-06 | 2019-09-20 | 同济大学 | A kind of complete cycle 3-freedom parallel mechanism |
| CN114523464A (en) * | 2022-03-07 | 2022-05-24 | 山东科技大学 | Five-freedom-degree series-parallel hybrid robot |
| WO2023169377A1 (en) * | 2022-03-07 | 2023-09-14 | 诺创智能医疗科技(杭州)有限公司 | Multi-degree-of-freedom master manipulators, robot, and minimally invasive robotic surgery system |
| CN117506871A (en) * | 2023-12-15 | 2024-02-06 | 天津大学 | Three-degree-of-freedom parallel mechanism, parallel robot and machine tool |
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| CN104625767B (en) | 2017-01-18 |
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