CN105171497A - Variable-input reconfigurable mechanical shaper main motion mechanism - Google Patents
Variable-input reconfigurable mechanical shaper main motion mechanism Download PDFInfo
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- CN105171497A CN105171497A CN201510704869.9A CN201510704869A CN105171497A CN 105171497 A CN105171497 A CN 105171497A CN 201510704869 A CN201510704869 A CN 201510704869A CN 105171497 A CN105171497 A CN 105171497A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 59
- 230000033001 locomotion Effects 0.000 title claims abstract description 49
- 238000007493 shaping process Methods 0.000 claims description 25
- 238000005516 engineering process Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000003786 synthesis reaction Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000003754 machining Methods 0.000 abstract 2
- 206010063385 Intellectualisation Diseases 0.000 abstract 1
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- 238000010586 diagram Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
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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
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/02—Driving main working members
- B23Q5/027—Driving main working members reciprocating members
Abstract
The invention belongs to the field of mechanism and mechanical manufacturing, and particularly relates to a variable-input reconfigurable mechanical shaper main motion mechanism. The shaper main motion mechanism is characterized in that two working modes are included and can be automatically switched according to the requirements of different operation tasks; the first working mode is suitable for completing the operation task of middle-sized part machining, wherein a ram of the shaper main motion mechanism is connected with a planar two-freedom-degree 5R parallel-connection mechanism driven by two sets of servo motors through a connecting rod, and the planar two-freedom-degree 5R parallel-connection mechanism transmits, synthesizes and converts input of the servo motors into single high-power output of the ram of the shaper main motion mechanism; the second working mode is suitable for completing the operation task of small-sized part machining, wherein the planar two-freedom-degree 5R parallel-connection mechanism is automatically switched into a planer single-freedom-degree four-rod mechanism which is driven by one servo motor. The variable-input reconfigurable mechanical shaper main motion mechanism has the advantages of achieving the controllability, flexibility and intellectualization.
Description
Technical field:
The invention belongs to theory of mechanisms and mechanical manufacturing field, particularly one becomes input restructural shaping machine main motion mechanism.
Background technology:
Shaping machine can be applicable to the planing operation in the faces such as horizontal plane, vertical plane, inclined-plane, straight trough, V-type groove, dovetail groove and straight edge line forming surface, therefore has in mechanical manufacturing field and applies very widely.In order to improve the quality of finished surface, require that ram should be uniform motion, but the combined mechanism that the main motion mechanism of mechanical type shaping machine generally adopts oscillating guidebar mechanism and rocker-slider mechanism to be in series, main motion during planing tool planing operation is non-uniform movement, brings difficulty for improving crudy further.
Along with the development of science and technology, people more and more wish that modern machines can have different working methods according to different task demands, namely wish that machine can " a tractor serves several purposes ", wish that machine has flexibility, controllability and intelligent.Mechanical type shaping machine is mainly used in processing, finding, and when work in-process type part and processing miniature parts, required operating power and impulse stroke are different.Obviously, process miniature parts time, required processing working power and impulse stroke are all relatively little, and if planer does not possess " flexibility ", still adopting the mode of operation of the medium-sized part of processing to carry out the job task of processing miniature parts, is obviously uneconomic.
Therefore people wish that planer can have controllability, make operating speed meet at the uniform velocity requirement; Wish that planer can have flexibility, according to the difference of processing job task, can convert mode of operation, realize restructural; Wish that planer has intelligence, can according to different processing technology and parameter request, programming Control.
Summary of the invention:
The present invention is directed to deficiency of the prior art, propose a kind of change and input restructural shaping machine main motion mechanism, it has controllability, flexibility, intelligentized advantage.
The present invention solves the scheme that its technical problem adopts: a kind ofly become input restructural shaping machine main motion mechanism, it has two kinds of optional mode of operations, namely according to difference processing job task, there are two kinds of different mechanism configurations, and can automatically switch easily between two kinds of mode of operations, there is reconfigurability.
The first mode of operation, can meet the processing job task of medium part, the first mechanism configuration is: the ram of shaping machine is connected with a plane two degrees of freedom 5R (R is revolute pair) parallel institution by a connecting rod.Plane two degrees of freedom 5R parallel institution is containing two same movement side chains, and be symmetrical mechanism, each side chain all containing two connecting rods, is connected by revolute pair between each connecting rod, and two identical side chains are also in parallel by revolute pair.Each side chain is by a driven by servomotor, servomotor is positioned at frame place, utilize plane two degrees of freedom 5R parallel institution by the input transmission of two servomotors, synthesis be converted into the single high-power output of end ram, the planing operation operation needs of medium-sized part can be met.Because plane two degrees of freedom 5R parallel institution itself has mechanical coordination function, the movement interference that two groups of servomotor error originated from inputs cause can be eliminated, reduce and control difficulty.
The second mode of operation, the processing job task of miniature parts can be met, the second mechanism configuration is: become input restructural shaping machine main motion mechanism and automatically switch to the second mode of operation, at this moment ram is connected with a single-freedom planar four-bar mechanism by a connecting rod, and namely plane two degrees of freedom 5R parallel institution switches to single-freedom planar four-bar mechanism.Four-bar linkage contains four bars and four revolute pairs, is connected between each bar by revolute pair.At this moment whole mechanism is mechanism with single degree of freedom, and one of them servomotor is locked, only has a servomotor job, for completing low power processing job task.
Above two kinds of mode of operations all adopt driven by servomotor, because servomotor has controllability, by reasonably controlling the uniform motion job requirements that can meet ram; Because servomotor has controllability, by programming Control, different processing technology and machined parameters requirement can be met; Because plane two degrees of freedom 5R parallel institution has mechanical coordination function, the input of two groups of servomotors can be synthesized, small-power input be synthesized high-power output, and the movement interference that error originated from input causes can be avoided; Because plane two degrees of freedom 5R parallel institution has restructural characteristic, shaping machine main motion mechanism can be realized according to different planing operation job requirements, automatically switch between different working modes, there is flexibility.
To sum up, described change input restructural shaping machine main motion mechanism, by adopting Serve Motor Control, by adopting restructural plane two degrees of freedom 5R parallel institution, meeting ram uniform motion job requirements, making the main motion mechanism of mechanical type shaping machine be provided with flexibility, controllability and intelligent.
Accompanying drawing illustrates:
Fig. 1 is the schematic diagram of mechanism becoming the first mode of operation of input restructural shaping machine main motion mechanism.
Fig. 2 is the schematic diagram of mechanism becoming input restructural shaping machine main motion mechanism the second mode of operation.
In Fig. 1 and Fig. 2,1 is frame, and 2-7 is bar, and 8-13 is revolute pair.
Detailed description of the invention:
Below in conjunction with accompanying drawing 1 and accompanying drawing 2 shownschematically embodiment the invention will be further described:
As shown in Figure 1 in embodiment: become input restructural shaping machine main motion mechanism and be operated in the first mode of operation, the ram (bar 7) of planer main motion mechanism is connected by bar 6 and a plane two degrees of freedom 5R parallel institution, the end output link that described ram (bar 7) is whole mechanism.Described plane two degrees of freedom 5R parallel institution contains two identical movement branched chain, and bar 2 and bar 3 form the first movement branched chain, and bar 2 is connected by revolute pair 8 with frame 1, and bar 2 is connected by revolute pair 11 with bar 3; Bar 4 and bar 5 form the second movement branched chain, and bar 5 is connected by revolute pair 9 with frame 1, and bar 5 is connected by revolute pair 10 with bar 4.Described two identical movement branched chain are in parallel by revolute pair 12, described bar 2 and bar 5 bar appearance etc., bar 3 and bar 4 bar appearance with, plane two degrees of freedom 5R parallel institution two movement branched chain is identical, is symmetrical structure.Plane two degrees of freedom 5R parallel institution is connected with bar 6 by revolute pair 12, and bar 6 is connected with bar 7 (ram) by revolute pair 13, bar 7 (ram) with frame 1 for moving sets is connected.Described each side chain of plane two degrees of freedom 5R parallel institution is driven by servomotor, and the servomotor of each side chain is arranged on revolute pair 8 and revolute pair 9 place respectively.Described plane two degrees of freedom 5R parallel institution, by the input transmission of the servomotor of described two movement branched chain, synthesis be converted into the high-power single output of ram 7, realizes high-power planing operation job task, can be used for the medium-sized part of planing operation.Described plane two degrees of freedom 5R parallel institution itself has mechanical coordination function, can eliminate the movement interference that two groups of servomotor error originated from inputs cause, and reduces and controls difficulty.
As shown in Figure 2 in embodiment: become input restructural shaping machine main motion mechanism and be operated in the second mode of operation, at this moment by the servomotor of rotation of drive rod 5, bar 5 is made to rotate the position extremely coincided with frame 1, and by locked for the servomotor of drive rod 5, then become input restructural shaping machine main motion mechanism and automatically switch to the second mode of operation, now plane two degrees of freedom 5R parallel institution automatically switches to plane single-degree-of-freedom four-bar mechanism as seen.At this moment, the ram (bar 7) of planer is connected with a single-freedom planar four-bar mechanism by bar 6.Now bar 5 overlaps with frame 1 and locked, and bar 5 and bar 1 are jointly as the frame of single-freedom planar four-bar mechanism.Bar 6 is connected by revolute pair 12 with single-freedom planar four-bar mechanism, and bar 6 is connected by revolute pair 13 with bar 7 (ram), bar 7 (ram) with frame 1 for moving sets is connected.At this moment whole mechanism is mechanism with single degree of freedom, and whole mechanism, using the servomotor of drive rod 2 as prime mover, provides the power of planing operation operation, can realize the processing operation needs of miniature parts.
Claims (1)
1. become an input restructural shaping machine main motion mechanism, it is characterized in that: this shaping machine main motion mechanism has two kinds of different mode of operations, job task requirement can be processed according to difference and automatically switch between two kinds of mode of operations;
Mode of operation one is: connect shaping machine ram and plane two degrees of freedom 5R (R is a revolute pair) parallel institution by a connecting rod; Described plane two degrees of freedom 5R parallel institution is made up of two identical movement branched chain, described plane two degrees of freedom 5R parallel institution have two identical movement branched chain, be symmetrical structure, each side chain described is by driven by servomotor; Ram and the frame of described shaping machine main motion mechanism are that moving sets is connected, and be revolute pair and connect between all the other each bars; Described plane two degrees of freedom 5R parallel institution, by the input transmission of two groups of servomotors, synthesis be converted into the single high-power output of ram, realizes the planning operation task of planer; Described plane two degrees of freedom 5R parallel institution has mechanical coordination function, can eliminate the movement interference that two groups of servomotor error originated from inputs cause, and reduces and controls difficulty; Mode of operation one has been applicable to the planing operation job task of medium-sized part;
Mode of operation two is: become input restructural shaping machine main motion mechanism and automatically switch to the second mode of operation, at this moment ram is connected with a single-freedom planar four-bar mechanism by a connecting rod, and namely plane two degrees of freedom 5R parallel institution switches to single-freedom planar four-bar mechanism; At this moment whole mechanism is mechanism with single degree of freedom, and one of them servomotor is locked, only has a servomotor job, for completing low power processing job task, can meet the planing operation job task of miniature parts;
Above two kinds of mode of operations all adopt driven by servomotor, because servomotor has controllability, by reasonably controlling the uniform motion job requirements that can meet ram; Because servomotor has controllability, by programming Control, different processing technology and machined parameters requirement can be met; Because plane two degrees of freedom 5R parallel institution has mechanical coordination function, the input of two groups of servomotors can be synthesized, small-power input be synthesized high-power output, and the movement interference that error originated from input causes can be avoided; Because plane two degrees of freedom 5R parallel institution has restructural characteristic, shaping machine main motion mechanism can be realized according to different planing operation job requirements, automatically switch between different working modes, there is flexibility;
To sum up, described change input restructural shaping machine main motion mechanism, by adopting Serve Motor Control, by adopting restructural plane two degrees of freedom 5R parallel institution, meeting ram uniform motion job requirements, making the main motion mechanism of shaping machine be provided with flexibility, controllability and intelligent.
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| CN201510704869.9A CN105171497B (en) | 2015-10-27 | 2015-10-27 | Become input restructural shaping machine main motion mechanism |
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| CN201510704869.9A CN105171497B (en) | 2015-10-27 | 2015-10-27 | Become input restructural shaping machine main motion mechanism |
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| CN105171497B CN105171497B (en) | 2017-12-08 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN2700064Y (en) * | 2003-12-16 | 2005-05-18 | 广东工业大学 | Two freedom degree moving plane parallel mechanism |
| CN101474756A (en) * | 2009-01-20 | 2009-07-08 | 西安理工大学 | Dual-drive skid revolving joint portion dual-shaft parallel high-speed accurate mainshaft head |
| CN102085659A (en) * | 2010-12-16 | 2011-06-08 | 广西大学 | Space-controlled five degree of freedom twelve-rod welding robot mechanism |
| CN104440883A (en) * | 2014-12-04 | 2015-03-25 | 齐鲁工业大学 | Planar two-degree of freedom robot |
-
2015
- 2015-10-27 CN CN201510704869.9A patent/CN105171497B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN2700064Y (en) * | 2003-12-16 | 2005-05-18 | 广东工业大学 | Two freedom degree moving plane parallel mechanism |
| CN101474756A (en) * | 2009-01-20 | 2009-07-08 | 西安理工大学 | Dual-drive skid revolving joint portion dual-shaft parallel high-speed accurate mainshaft head |
| CN102085659A (en) * | 2010-12-16 | 2011-06-08 | 广西大学 | Space-controlled five degree of freedom twelve-rod welding robot mechanism |
| CN104440883A (en) * | 2014-12-04 | 2015-03-25 | 齐鲁工业大学 | Planar two-degree of freedom robot |
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Effective date of registration: 20190307 Address after: 065000 Northwest of Beiwang Village, Beiwang Township, Guangyang District, Langfang City, Hebei Province Patentee after: Langfang Rongxiang Mechanical and Electrical Equipment Co.,Ltd. Address before: 065000 AI min Dong Road, Langfang, Hebei Province, No. 133 Patentee before: North China Institute of Aerospace Engineering |
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