CN105234685B - A kind of parallel machine configuration based on 3RRRS mechanisms - Google Patents
A kind of parallel machine configuration based on 3RRRS mechanisms Download PDFInfo
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- CN105234685B CN105234685B CN201510735085.2A CN201510735085A CN105234685B CN 105234685 B CN105234685 B CN 105234685B CN 201510735085 A CN201510735085 A CN 201510735085A CN 105234685 B CN105234685 B CN 105234685B
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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
- B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
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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
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
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Abstract
The present invention proposes a kind of parallel machine configuration based on 3RRRS mechanisms, including lower platform, upper mounting plate, pillar is provided between upper mounting plate and lower platform, described lower platform is arranged with upper mounting plate in parallel shape, pillar and upper mounting plate, lower platform are vertical affixed, in the side of the upper plane of lower platform, mounting platform is set, in the corresponding opposite side of mounting platform, moving platform is set, dynamic slippery fellow is installed in the bottom of moving platform, set three RRRS to couple side chain between the moving platform and upper mounting plate, control system is installed in the side of pillar.Due to the pattern using redundant drive, the moving platform being connected with upper mounting plate, with bigger working space, is installed after power slippery fellow on moving platform, then its scope that can be processed is with that can reach that pose is more, and designing numerical control drilling boring and milling class lathe with this has more preferable service behaviour.Modularized design is used in structure, can be made the need for lathe meets various tasks, while simplifying structure and the control of lathe, reduction is developed and use cost.
Description
Technical field
The invention belongs to parallel machine technical field, and in particular to a kind of parallel machine configuration based on 3RRRS mechanisms.
Background technology
Parallel machine based on space parallel mechanism, concentrated mechanical engineering, computer science, electronic engineering and
The multi-disciplinary achievement in research such as automatically control, during it is Digit Control Machine Tool industry, the polycyclic multiple-degree-of-freedom mechanism in space is creative
Using.
Parallel machine is the novel lathe based on parallel institution.Currently, with every field to the demand of parallel machine not
Disconnected increase so that parallel machine is widely used.
From in the world, nineteen sixty-five J.Tindale proposes the imagination of exploitation parallel architecture lathe earliest.G＆L companies exist
The prototype for having researched and developed six leg parallel machines in 1991, so by VARIAX (anomaly) parallel machines 1994 in
The IMTSs of Chicago,U.S IMTS ' 94 look at can on shown.With the R and D of parallel machine, go out
A series of parallel machine is showed, French RA companies URANE S, Dyna-M types horizontal Machining centers, the ZFS of Germany
Paralix etc..German D rries Scharmann Technologie (DST) companies developed horizontal processing head in 2005
SprintZ3.The processing head turns into standard module.
Parallel machine is classified as important topic with numerous colleges and universities and has carried out developmental research by Domestic Scientific Research department.In 1991,
University On The Mountain Of Swallows have developed the parallel robot model machine with six degree of freedom.In Beijing lathe exhibition of 1998, illustrate by
The VAMTIY parallel machines that Tsing-Hua University and University Of Tianjin develop jointly, this is the model machine of China's First parallel machine.
On the CIMT of 2001, the XNZ63 numerical controls of the units such as Kunming Machinetool Co., Ltd. exploitation are proposed
Boring and milling class virtual-shaft machine tool, the XNZ2010 numerical controlled gantry type virtual-shaft machine tools of the exploitation such as east of a river lathe Co., Ltd.2002
On CIMT, the DCB510 five-axle linkage parallel machines of the exploitations such as Dalian Machine Tool group are illustrated.Breathe out quantity set
Digit Control Machine Tool company of group in the 9th Chinese International Machine Tool instrument exhibition, put on display New Type Parallel Machine Tool in 2008
LINKS-EXE700R.This lathe is with the parallel machine technical research of a new generation of Aix-en-Provence health (EXECHON) company, technology
Water leading in the world is reached.The axle series-parallel machine tool XNZ2415 of first of world novel heavy duty planer-type five, by Tsing-Hua University and together
The machine tool plants of Qi Haer second cooperation research and development at the beginning of 2009.
In recent years, each colleges and universities are proposed many new parallel machine configurations with scientific research institutions.
Dalian Chuangda Technology Exchange Market Co., Ltd. have developed a kind of special six-freedom-degree parallel in 2010（It is open
Number, the A of CN 102476288）, by moving platform, silent flatform and secondly bar structure identical combination chain and two structure identical letters
Single open chain is constituted.The mechanism can as the measuring machine of parallel-connection structure, virtual-axis nc machine tool and various motion platforms execution machine
Structure.
University On The Mountain Of Swallows 2010 have studied the orthogonal parallel machine of novel six freedom（Publication number, the U of CN 201833184）.Should
Parallel machine includes fixed station, sports platform, the six roots of sensation rectilinear movement driving branch road of be connected and fixed platform and sports platform and mounted in motion
Electro spindle and cutting tool on platform.
Zhejiang Polytechnical University have studied a kind of two freedom parallel machine tool for 2010（Publication number, the A of CN 102069394）, bag
Include by bottom plate and perpendicular to the pedestal that constitutes of support column of bottom plate, be set up in the parallel institution on pedestal；Parallel institution includes solid
Crossbeam on base supports post, the motor and guide rail being fixed on crossbeam, the cunning for interlocking, being slided up and down along guide rail with motor
Block, the connecting rod interlocked with sliding block and the platform with being connected lever linkage etc..
Institutes Of Technology Of Tianjin discloses a kind of large-workspace three-dimensional moving parallel robot mechansim in 2009（Publication number,
CN 101704244 A）.The mechanism is by motion platform, fixed platform and three structure identical side chains for coupling above-mentioned two platform
Composition；Each described side chain is made up of three revolute pairs, a Hooke's hinge and the connecting rod between them respectively from bottom to top.
Northeastern University develops a kind of three-chain parallel machine tool in 2010（Publication number, the A of CN 101774128）, including bed
Body, Hooke hinge, expansion link, parallel mechanism, translation platform, double cruciform shaft and workbench.
The space five-freedom parallel machine tool that Zhejiang University have developed for 2010（Publication number, the A of CN 101850519）, bag
Include pentagonal frame, silent flatform, moving platform, five ball screw assembly,s, five unconfinement side chains and a constrained branched chain, five
The two ends of ball screw assembly, are fixed on five angle points of frame and silent flatform by bearing respectively, and frame is parallel with silent flatform,
Every unconfinement side chain is made up of the ball pivot at connecting rod and connecting rod two ends, and one of ball pivot is connected with feed screw nut, another ball
Hinge is connected with five angle points of pentagon moving platform, and constrained branched chain is made up of the Hooke's hinge at prismatic pair and prismatic pair two ends, two
Center of the Hooke's hinge respectively with silent flatform and moving platform is connected.
Beijing Shengwei Hongji NC Device Co., Ltd. have developed a kind of five-axle linkage machine of one translation of four revolution for 2012
Bed（Publication number, the A of CN 102615543）, including lathe bed, the top surface of lathe bed is fixed with workbench, and workbench is provided with two the
Single-revolution device etc..
Tsing-Hua University have developed a kind of plane two-freedom redundantly actuated parallel mechanism and the machine using the mechanism for 2012
Bed（Publication number, the A of CN 102615514）, it includes being vertically arranged two columns for carrying rail plate on base, base, its
In be provided with a servomotor, a sliding block, a ball-screw and a leading screw support base, the sliding block on a column and be provided with first
Connecting rod and fourth link, two connecting rods are isometric, constitute parallel-crank mechanism；Two servomotors, two are provided with another column
Second connecting rod and third connecting rod are correspondingly arranged on sliding block, two ball-screws and two leading screw support bases, two sliding blocks；Four companies
Bar is all connected with same moving platform, and the structure can reduce the singularity of working space, improves power transmission performance and dynamic characteristic.
Shenyang Building Univ. devises a kind of parallel institution of the lower-mobility of Constrained chain for 2012（Publication number, CN
102941772 A）, the cutting tool for being installed on moving platform turning along Z-direction translation and along X-axis and Y direction can be realized
Dynamic, primary structure includes moving platform, silent flatform, electro spindle formula cutting tool, three drive chains and a constraint chain.Drive chain
One end be connected by Hooke's hinge with silent flatform, the other end is connected by spherical hinge with moving platform, passes through 1 or 2 actives
The elongation of chain, the in addition shortening of 2 or 1 drive chains makes moving platform rotate；Constrain chain one end by Hooke's hinge with
Silent flatform is connected, and the other end is fixed on moving platform by flange, and the interior axle of expansion link ensures whole in parallel equipped with symmetrical key
Rotation along Z-direction does not occur for mechanism.The invention can realize complicated lathe could be realized two by simple parallel architecture
The rotation of the individual free degree and the translation of one degree of freedom, it is simple and practical.
Jiangxi Machinery Science Inst. discloses a kind of five side chains five-freedom parallel machine tool mechanism for 2013（CN
103465252 A）, including frame, five active branched chains and moving platform.Five active constraint side chains drive moving platform to do sky jointly
Between five degree of freedom move, realize lathe space five-freedom motion.
Wan Xin optics Group Co., Ltd succeeded in developing a kind of Parallel Machine Tool with Three Freedoms in 2013（CN 203245874
U）, include three sub-chains of moving platform, fixed platform and connection moving platform and fixed platform, it is characterised in that every branch
Kinematic chain is by a screw pair, a revolute pair and a cylindrical pair composition, the axle of the axis of screw pair perpendicular to revolute pair
The axis of line, revolute pair and cylindrical pair is parallel to each other, and the three-dimensional that space can be achieved is mobile.
University Of Tianjin succeeded in developing in 2014 can realize the parallel machine of five-axis robot（Publication number, 203900978
U）.The parallel machine includes lathe bed, front and rear two sets of parallel institutions, series connection connection rod set, two-freedom workbench and end effector.
Its front and rear two sets of parallel institution has essentially identical configuration, including the two root posts being arranged symmetrically, a moving platform and company
Two side chains between column and moving platform are connect, two of which side chain has identical structure type, and every side chain is respectively provided with one
Individual straight spur unit；The moving platform of front and rear two sets of parallel institutions is connected by two parallel hinges with series connection connection rod set, group
Into a Spatial Parallel close loop mechanism.The mechanism realizes two one-movement-freedom-degrees of end effector by four driver elements
With two rotational freedoms, and two-freedom workbench include a straight line slide unit and the turntable on slide unit.
Hangzhou Hu Qing Science and Technology Ltd.s disclose a kind of five-freedom parallel machine tool in 2014（Publication number, CN
203945178 U）, including：Suspension apparatus, workbench, support, four identical movement branched chains and constrained branched chain；Workbench
It is connected by four movement branched chains with constrained branched chain with support；It is connected with respectively by ball pivot connected mode in the surrounding of workbench
Four movement branched chains, the other end of four movement branched chains is connected on four end points of support, the other end of constrained branched chain
It is connected to the center of support, suspension apparatus fixed support.
Existing domestic and international pertinent literature is made a general survey of, the parallel machine designed at present is also not based on 3RRRS mechanism configurations
's.
The content of the invention
It is the further work pose for expanding parallel machine power slippery fellow that the purpose of the present invention, which is, and design one kind is based on
The parallel machine configuration of 3RRRS mechanisms.The configuration can realize the sextuple motion of dynamic plane, due to redundancy actuating mechanism
Feature, the working space of its dynamic plane is bigger, power slippery fellow is installed in dynamic plane, then its scope that can be processed is with that can reach
It is more to pose, numerical control drilling boring and milling class lathe is designed with this, can make lathe that there is more preferable service behaviour.
The technical proposal of the invention is realized in this way：
A kind of parallel machine configuration based on 3RRRS mechanisms, including lower platform, upper mounting plate, between upper mounting plate and lower platform
Provided with pillar, described lower platform and upper mounting plate is in flat arrangements, and pillar and upper mounting plate, lower platform are vertical affixed, lower flat
The side of the upper plane of platform sets mounting platform, moving platform is set in the corresponding opposite side of mounting platform, under moving platform
Dynamic slippery fellow is installed in portion, sets three RRRS to couple side chain, described RRRS connection branch between the moving platform and upper mounting plate
Chain includes upper section unit, temporary location, lower section unit and three motors, and upper section unit is connected with upper mounting plate, in upper section
Unit is with the upper mounting plate place of being connected provided with upper section unit drive system, and upper section unit, temporary location and lower section unit are sequentially connected in series
Combination, upper section unit couples with upper mounting plate, upper section unit couples with temporary location, temporary location is adopted coupling for unit with lower section
Coupled with rotary pair；And lower section unit is connected with moving platform and coupled using spherical pair, control system is installed in the side of pillar
System.
Being projected in for the upper extreme point of described three RRRS connection side chains is triangular in shape on upper mounting plate, three RRRS connection branch
Being projected in for the lower extreme point of chain is triangular in shape on moving platform.
Described upper section unit drive system is connected firmly by motor worm mounting seat and upper mounting plate, and worm screw before worm screw by propping up
Bolster and worm screw rear support bracket are arranged in motor worm mounting seat, and motor afterbody is provided with encoder, and motor is straight with decelerator
Connection, motor is arranged in motor worm mounting seat by support frame, and the output shaft of decelerator is connected by adapter sleeve with worm screw, institute
The decelerator and worm screw stated are locked in link position by lock screw.
The upper section unit sets worm gear mounting seat with upper mounting plate junction, and described worm-wheel shaft is pacified by worm gear mounting seat
On upper mounting plate, worm gear is installed on worm-wheel shaft, described worm gear is connected with worm engaging, worm-wheel shaft by connector I,
Connector II be connected with support backing plate, supports the opposite side of backing plate to be connected with the upper unit body that saves, and described connector I, is connected
Part II, support backing plate are fixing mechanism with upper section unit body, and worm-wheel shaft is locked with connector II by lock-screw.
Described upper section unit includes motor, and motor is fixed on section unit body using electric machine support
Interior, the afterbody of motor is provided with encoder, and motor front end is provided with decelerator, and described decelerator passes through decelerator
Support is fixed on section unit body, and the output shaft of decelerator is provided with gear wheel, and decelerator is with gear wheel by being connected spiral shell
Nail connection, described gear wheel is meshed with the little gear on worm reducer input shaft carries out transmission campaign, described
Worm reducer input shaft fixed with little gear by key and nut, worm reducer be arranged on it is upper section unit body on, institute
The worm reducer output stated has two output ends, two output ends of the worm reducer output respectively respectively with one
Connection the ring disk is connected, and connection the ring disk is provided with connecting hole.
Described middle section unit is identical with upper section cellular construction, and upper section unit saves the gyration of unit, middle section in providing
The motion transmission line of unit is similar with upper section unit, and the drive system of middle section unit is realized to lower section unit motion transmission, under
Section unit with the male part formation spherical pair on moving platform by being connected, so as to drive moving platform to move.
In summary, the parallel machine configuration of the invention based on 3RRRS mechanisms, can realize the sextuple motion of moving platform.
Due to the pattern using redundant drive, the moving platform being connected with upper mounting plate, with bigger working space, is installed on moving platform
After power is foxy, then its scope that can be processed is with that can reach that pose is more, and designing numerical control drilling boring and milling class lathe with this has
More preferable service behaviour.Due in structure, using modularized design, it can make the need for lathe meets various tasks, while simple
Change structure and the control of lathe, reduction is developed and use cost.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of front view of the parallel machine of the parallel machine configuration based on 3RRRS mechanisms of the present invention.
Fig. 2 is a kind of A-A of the parallel machine of the parallel machine configuration based on 3RRRS mechanisms sectional view shown in Fig. 1.
Fig. 3 is a kind of upper section unit drivetrain of the parallel machine of the parallel machine configuration based on 3RRRS mechanisms of the present invention
The schematic diagram of system.
Fig. 4 is a kind of signal of the upper section unit of the parallel machine of the parallel machine configuration based on 3RRRS mechanisms of the present invention
Figure.
Fig. 5 drives and is driven for a kind of motor of the middle section unit of the parallel machine configuration based on 3RRRS mechanisms of the present invention
Partial schematic diagram.
Fig. 6 is the external form and worm gear reducer of a kind of middle section unit of the parallel machine configuration based on 3RRRS mechanisms of the present invention
Device output shaft part schematic diagram.
Fig. 7 is a kind of schematic diagram of the lower section unit of the parallel machine configuration based on 3RRRS mechanisms of the present invention.
Wherein, 1. lower platform, 2. pillars, 3. upper mounting plates, 4. RRRS connection side chains, 5. moving platforms, 6. power are slided
Head, 7. mounting platforms, 8. control systems save unit on 9., 10. temporary locations, 11. times section units, and unit is saved on 12.
Drive system, 13. motor worm mounting seats, 14. worm screw front support brackets, 15. encoders, 16. motors, 17. decelerators,
18. support frame, 19. adapter sleeves, 20. worm screw rear support brackets, 21. worm screws, 22. lock screws, 23. worm gear mounting seats,
24. worm gear, 25. worm-wheel shafts, 26. connectors I, 27. support section unit body on backing plates, 28., 29. connection the ring disks, 31.
Motor, 32. electric machine supports, 34. lock-screws, 35. connectors II, 36. reducer stents, 37. attachment screws,
38. worm reducer input shaft, 39. nuts, 40. keys, 41. gear wheels, 42. little gears, 43. worm reducers,
44. worm reducer output, 45. worm type of reduction gearings, 46. spur gears, 47. motor driven systems, in the middle of 48.
Unit body, 49. connecting brackets, 51. terminal pads, 52. connecting plates, 53. supports, 54. hollow pipes, 55. connected balls
Part.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not paid
Embodiment, belongs to the scope of protection of the invention.
Embodiment 1, as shown in Figure 1 and 2, the invention provides a kind of parallel machine configuration based on 3RRRS mechanisms, including
Lower platform 1, upper mounting plate 3, are provided with pillar 2, described lower platform 1 and upper mounting plate 3 is in flat shape shape between upper mounting plate 3 and lower platform 1
Arrangement, pillar 2 and upper mounting plate 3, lower platform 1 are vertical affixed, mounting platform 7 are set in the side of the upper plane of lower platform 1, in peace
The corresponding opposite side of assembling platform 7 sets moving platform 5, installs dynamic foxy 6 in the bottom of moving platform 5, the moving platform 5 with
Three RRRS are set to couple side chain 4 between upper mounting plate 3, described RRRS connection side chains 4 include upper section unit 9, temporary location 10
With lower section unit 11 and three motors, upper section unit 9 is connected with upper mounting plate 3, is connected in upper section unit 9 with upper mounting plate 3
Place is met provided with upper section unit drive system 12, upper section unit 9, temporary location 10 and lower section unit 11 are sequentially connected in series combination, upper section
Unit 9 couples with upper mounting plate 3, upper section unit 9 couples with temporary location 10, temporary location 10 is adopted coupling for unit 11 with lower section
Coupled with rotary pair（Described rotary pair, which is called, does device for revolving and driving, is a kind of new revolution class formation, generally by snail
The parts such as bar, pivoting support, housing, motor are constituted）, that is, form RRR connection side chains；And lower section unit 11 is connected with moving platform 5
Connect and use spherical pair（That is S pairs）Connection, each connection side chain forms RRRS between upper mounting plate and moving platform and coupled, in pillar 2
Side control system 8 is installed.
The operation principle of the present invention is as follows：In the side of pillar 2, control system 8 is installed, passes through the control system 8, control
The motion of each motor on RRRS connections side chain 4 processed, changes the length and athletic posture of each side chain, is joined according to three RRRS
The various combination of the motion of side chain 4 is connect, changes the athletic posture of moving platform 5,6 maintenance and operations that can form moving platform 5 are moved, meets dynamic flat
The relative position requirement of platform 5 and workpiece；The feed motion of power slippery fellow 6 and the relative motion of cutter are driven simultaneously, implement cutter
Workpiece is processed.
As the preferred scheme of the present invention, between upper mounting plate 3 and lower platform 1, linked using four pillars 2, upper flat
3 RRRS used between platform 3 and moving platform 5 couple side chain 4, and described each RRRS connection side chains 4 have 3 connection units, 3
Individual motor, 3 RRRS connection side chains have 9 motors, form the pattern of redundant drive.
Further, as shown in figure 3, described upper section unit drive system 12 is put down by motor worm mounting seat 13 with upper
Platform 3 is connected firmly, and worm screw 21 is arranged in motor worm mounting seat 13 by worm screw front support bracket 14 and worm screw rear support bracket 20, motor
16 afterbodys are provided with encoder 15, motor 16 and the direct connection of decelerator 17, and motor 16 is pacified by support frame 18 installed in motor worm
Fill on seat 13, the output shaft of described decelerator 17 is connected by adapter sleeve 19 with worm screw 21, described decelerator 17 and worm screw
21 are locked in link position by lock screw 22, cause to transmit power between decelerator 17 and worm screw 21 by the device, from
And allow section unit to carry out side-to-side movement.
It is preferred that, as shown in figure 4, the upper section unit 9 sets worm gear mounting seat 23 with the junction of upper mounting plate 3, it is described
Worm-wheel shaft 25 is arranged on upper mounting plate 3 by worm gear mounting seat 23, and worm gear 24, described worm gear 24 are provided with worm-wheel shaft 25
It is connected with the engagement of worm screw 21, worm-wheel shaft 25 is connected by connector I 26, connector II 35 with support backing plate 27, supports backing plate 27
Opposite side be connected with upper section unit body 28, described connector I 26, connector II 35, support backing plate 27 and upper section unit
The connection of body 28 is fixing mechanism, and worm-wheel shaft 25 is locked with connector II 35 by lock-screw 34, when the body of motor 16
Dynamic worm screw 21, by the way that when driving the worm-wheel shaft 25 to rotate, the overall revolution of unit 9 will be saved in drive with engaging for worm gear 24.
Further, the upper section unit 9 of described RRRS connections side chain 4 includes body and electronic in body
Machine, transmission device, detection means.Described transmission device includes intermediate gearing and final drive device, intermediate transmission dress
Put input shaft with motor output shaft to be connected, the output shaft of intermediate gearing is connected with final drive device, the end is passed
The output shaft of dynamic device has two output ends, and two output ends are respectively connected with a terminal pad, described upper section unit
Terminal pad be connected with the connecting bracket of temporary location, the terminal pad of temporary location with it is lower section unit connecting bracket be connected
Connect.
It is preferred that, as shown in figure 4, the structure of the upper section unit 9 of three RRRS connection side chains 4, temporary location 10 is identical, on
The gyration that unit 9 provides temporary location 10 is saved, the upper structure of section unit 9 includes motor 31, and motor 31 is used
Electric machine support 32 is fixed in section unit body 28, and the afterbody of motor 31 is provided with encoder 15, motor 31
Front end is provided with decelerator 17, forms drive system.Described decelerator 17 is fixed on upper section unit by reducer stent 36
On body 28, the output shaft of decelerator 17 is provided with gear wheel 41, and decelerator 17 is connected with gear wheel 41 by attachment screw 37,
Described gear wheel 41 is meshed with the little gear 42 on worm reducer input shaft 38 carries out transmission campaign, described
Worm reducer input shaft 38 is fixed with little gear 42 by key 40 and nut 39.Worm reducer 43 is arranged on upper section unit machine
On body 28, described worm reducer output 44 has two output ends, two outputs of the worm reducer output 44
End is respectively connected the ring disk 29 with one respectively and is connected, and connection the ring disk 29 is provided with connecting hole.It is upper section unit 9 on connection the ring disk 29 with
Connecting bracket 49 on temporary location 10 is connected, due to the connecting bracket 49 on temporary location 10（Such as Fig. 5）With temporary location
Body 48 is consolidated, and the motion of the connection the ring disk 29 on upper section unit 9 can pass to temporary location body 48, it is possible thereby to realize
The motion transmission of unit machine body 48 in the middle of 31 pairs of motor.When the drive connection of motor 31 in upper section unit 9
The ring disk 29 is rotated, and is connected firmly by connecting the ring disk 29 with the connecting bracket 49 on temporary location, just change temporary location relative to
The position of upper section unit, forms revolution connection between the two.
Further, as shown in figure 5, the structure of described temporary location 10 and motion transmission line and the upper section class of unit 9
Seemingly, motor driven systems 47 are included, motor driven systems 47 are fixed on temporary location body 48, and motor driven systems 47 are wrapped
Motor, the encoder of afterbody, the decelerator of front end containing centre.The output of motor driven systems 47, passes through a pair of gear drives
Couple with the worm type of reduction gearing 45 on temporary location body 48.Described worm reducer output 44 has two
Individual output end, two output ends of the worm reducer output 44 are respectively connected with a terminal pad 51 respectively, terminal pad 51
Connecting hole is machined with, terminal pad 51 is connected by the hole with the connecting plate 52 of lower section unit 11（Such as Fig. 6）, it is possible thereby to realize electricity
The motion transmission of unit 11 is saved under 47 pairs of machine drive system.Connect when the motor driven systems 47 in middle section unit 10 drive
Disk 51 is connect to rotate, and by terminal pad 51 and it is lower between connecting plate 52 on unit 11 connect firmly, just change it is lower between unit relative in
The position of unit is saved, revolution connection is formed between the two.
It is preferred that, as shown in Figures 6 and 7, the structure of described lower section unit 11 includes connecting plate 52, connecting plate 52 by with
Terminal pad 51 in temporary location 10 is connected, and realizes that the motion between temporary location 10 and lower section unit 11 is transmitted.Connecting plate 52
It is fixedly connected with support 53, support 53 with hollow pipe 54, hollow pipe 54 with being connected ball element 55 using bolt.Described connected ball
Part 55 is connected with the male part formation spherical pair on moving platform 5, so as to drive moving platform 5 to move.
Further, in order to control the kinematic accuracy of motion platform, the present invention is provided with detection at each motor
Device, detection means includes the photoelectric encoder and the potentiometer in a terminal pad located at motor rear end, the photoelectricity
Encoder is coaxially connected with motor.
Embodiment 2, being projected in for the upper extreme point of described three RRRS connections side chain 4 is triangular in shape on upper mounting plate 3, three
The lower extreme point of RRRS connection side chains 4 is projected in triangular in shape on moving platform 5, other structures be the same as Example 1.
In summary, the parallel machine configuration of the invention based on 3RRRS mechanisms, can realize that 6 maintenance and operations of moving platform are moved.By
In the pattern using redundant drive, the moving platform being connected with fixed platform, with bigger working space, is installed in dynamic plane
After power is foxy, then its scope that can be processed is with that can reach that pose is more, and designing numerical control drilling boring and milling class lathe with this has
More preferable service behaviour.
Due in structure, using modularized design, it can make the need for lathe meets various tasks, while simplifying lathe
Structure and control, reduction are developed and use cost.
The preferred embodiments of the present invention are elaborated above in association with accompanying drawing, but the present invention is not limited to above-mentioned implementation
Mode.In a word, if in the knowledge that the field those of ordinary skill possesses, to the spirit and principles in the present invention it
Interior made any modification, equivalent substitute and improvement etc., its all should cover claimed technical scheme scope of the invention it
It is interior.
Claims (3)
1. a kind of parallel machine configuration based on 3RRRS mechanisms, including lower platform（1）, upper mounting plate（3）, upper mounting plate（3）With under
Platform（1）Between be provided with pillar（2）, it is characterised in that：Described lower platform（1）With upper mounting plate（3）Arranged in parallel shape, pillar
（2）With upper mounting plate（3）, lower platform（1）It is vertical affixed, in lower platform（1）Upper plane side set mounting platform（7）,
Mounting platform（7）Corresponding opposite side set moving platform（5）, in moving platform（5）Bottom dynamic slippery fellow is installed（6）, institute
State moving platform（5）With upper mounting plate（3）Between set three RRRS to couple side chains（4）, described RRRS connections side chain（4）Including
Upper section unit（9）, temporary location（10）, lower section unit（11）With three motors, upper section unit（9）With upper mounting plate（3）Phase
Connection, in upper section unit（9）With upper mounting plate（3）Place be connected provided with upper section unit drive system（12）, upper section unit（9）, in
Between unit（10）With lower section unit（11）It is sequentially connected in series combination, upper section unit（9）With upper mounting plate（3）Connection, upper section unit（9）With
Temporary location（10）Connection, temporary location（10）With lower section unit（11）Connection using rotary pair couple；And lower section unit
（11）With moving platform（5）It is connected using spherical pair connection, in pillar（2）Side control system is installed（8）；
Described upper section unit drive system（12）Pass through motor worm mounting seat（13）With upper mounting plate（3）Connect firmly, worm screw（21）
Pass through worm screw front support bracket（14）With worm screw rear support bracket（20）Installed in motor worm mounting seat（13）On, motor（16）Afterbody
Encoder is installed（15）, motor（16）With decelerator（17）Direct connection, motor（16）Pass through support frame（18）Installed in motor snail
Bar mounting seat（13）On, decelerator（17）Output shaft pass through adapter sleeve（19）With worm screw（21）Connection, described decelerator
（17）And worm screw（21）Pass through lock screw in link position（22）Locking；
The upper section unit（9）With upper mounting plate（3）Junction sets worm gear mounting seat（23）, worm-wheel shaft（25）Installed by worm gear
Seat（23）Installed in upper mounting plate（3）On, in worm-wheel shaft（25）On worm gear is installed（24）, described worm gear（24）With worm screw（21）
Engagement connection, worm-wheel shaft（25）Pass through connector I（26）, connector II（35）With support backing plate（27）Connection, supports backing plate
（27）Opposite side with it is upper section unit body（28）Connection, described connector I（26）, connector II（35）, support backing plate
（27）With upper section unit body（28）For fixing mechanism, and worm-wheel shaft（25）With connector II（35）Pass through lock-screw（34）Enter
Row locking.
2. a kind of parallel machine configuration based on 3RRRS mechanisms according to claim 1, it is characterised in that：Described
Three RRRS couple side chain（4）Upper extreme point be projected in upper mounting plate（3）Upper triangular in shape, three RRRS couple side chain（4）
Lower extreme point be projected in moving platform（5）It is upper triangular in shape.
3. a kind of parallel machine configuration based on 3RRRS mechanisms according to claim 1, it is characterised in that：Described
Upper section unit（9）Include motor（31）, motor（31）Using electric machine support（32）It is fixed on section unit body
（28）It is interior, motor（31）Afterbody encoder is installed（15）, motor（31）Front end is provided with decelerator（17）,
Described decelerator（17）Pass through reducer stent（36）It is fixed on section unit body（28）On, decelerator（17）It is defeated
Shaft is provided with gear wheel（41）, decelerator（17）With gear wheel（41）Pass through attachment screw（37）Connection, described gear wheel
（41）With installed in worm reducer input shaft（38）On little gear（42）Be meshed progress transmission campaign, and described worm gear subtracts
Fast device input shaft（38）With little gear（42）Pass through key（40）And nut（39）It is fixed, worm reducer（43）It is single installed in upper section
First body（28）On, described worm reducer output（44）With two output ends, the worm reducer output（44）
Two output ends respectively be respectively connected the ring disk with one（29）It is connected, connects the ring disk（29）Provided with connecting hole.
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| CN108418364A (en) * | 2016-06-23 | 2018-08-17 | 张雪梅 | A kind of safe motor insulating paper paper-inserting machine |
| CN106378637B (en) * | 2016-11-18 | 2018-03-30 | 电子科技大学 | A kind of gas-liquid parallel connection six degree of freedom processing platform system for machine tooling |
| CN110340874B (en) * | 2019-07-31 | 2021-01-15 | 燕山大学 | Three-degree-of-freedom parallel driving parallel processing device |
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