CN105855921B - Parallel institution with space three-freedom - Google Patents
Parallel institution with space three-freedom Download PDFInfo
- Publication number
- CN105855921B CN105855921B CN201610407036.0A CN201610407036A CN105855921B CN 105855921 B CN105855921 B CN 105855921B CN 201610407036 A CN201610407036 A CN 201610407036A CN 105855921 B CN105855921 B CN 105855921B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- movement branched
- branched chain
- moving platform
- movement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- B23Q1/64—Movable or adjustable work or tool supports characterised by the purpose of the movement
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Bearings For Parts Moving Linearly (AREA)
- Machine Tool Units (AREA)
Abstract
The invention discloses a kind of parallel institutions with space three-freedom.It includes 3 movement branched chains being vertically arranged and the moving platform being set in the space that 3 movement branched chains are surrounded；Every movement branched chain includes linear feeding system, and linear feeding system driving moving platform moves along the vertical direction；Movement branched chain I is connected by connecting rod A with moving platform, and the both ends of connecting rod A are connected with movement branched chain I and connecting rod B respectively by revolute pair, and the part body of rod at the end nearly connecting rod B of connecting rod A is connected by revolute pair with moving platform；Movement branched chain II is connected by revolute pair with the connecting rod B other end；Movement branched chain III is connected by connecting rod C with moving platform, and one end of connecting rod C is connected with movement branched chain III by spherical linkage, is connected between the other end and moving platform by the universal pair of double rotation freedom degrees.The present invention has the parallel institution of space double rotation freedom degrees and a translational degree of freedom, and each branched structure is simple, has effectively ensured the high dynamic characteristic and stress balance characteristic of mechanism.
Description
Technical field
The present invention relates to a kind of 3-freedom parallel mechanisms, and in particular to a kind of parallel machine with space three-freedom
Structure belongs to mechanical manufacturing field.
Background technique
Parallel institution is compact-sized, and modular capability is good, and rigidity mass ratio is big, it is easy to accomplish high-speed motion.Parallel institution
It is the closed-loop system collectively formed by multiple branches and dynamic and static platform, freedom degree is up to six.Freedom degree is less than six parallel connection
Mechanism is referred to as minority carrier generation lifetime.Wherein, 3-freedom parallel mechanism is a kind of important minority carrier generation lifetime.
In recent years, some mixed connection manufacturing equipments based on 3-freedom parallel mechanism are applied successfully in the industry, are such as based on 2-
Five axis mixed connection machining center Exechoon (W02006054935) of UPR/SPR mechanism, and the Ecospeed based on 3-PRS mechanism
Five axis mixed connection machining centers (W02000025976) etc..Hybrid mechanism has both that serial mechanism working space is big and parallel institution knot
The advantage that structure is compact, dynamic response characteristic is good, the five-axle linkage high speed that can be realized big working space cut Milling Machining, are suitble to application
In the processing of Space Free-Form Surface type component.
Patent US6431802 and CN100377847C are the common space two rotation-translation parallel institution of mesh first two,
Respectively 3PRS configuration and 3RPS configuration, the two have been applied to series-parallel machine tool field.Liang Ge mechanism all includes silent flatform, moves and put down
Platform and three structures are identical and the branch that is axisymmetricly distributed.Mechanism branch involved in US6431802 successively includes a shifting
A dynamic secondary, revolute pair and a flexural pivot；Wherein, prismatic pair is driving unit, is cooperated by guide rail and silent flatform；Revolute pair and
Flexural pivot is passive unit, and flexural pivot connects corresponding connecting rod and moving platform.Mechanism branch involved in CN100377847C is successively
Include a revolute pair, a prismatic pair and a flexural pivot；Wherein, revolute pair is connected with fixed platform, and prismatic pair is that driving is single
Member；Flexural pivot is passive unit, connects corresponding connecting rod and moving platform.
In addition, there are also many research units and scientific research institution's configuration to go out a variety of two turn of one motion three-freedom-degree parallel mechanism (such as
WO005976, EP1123175, CN102632394 etc.), the colleges and universities such as Tsinghua University, University Of Tianjin also have proposed some parallel masters
Shaft head structure (such as CN101264576, CN101049699, CN101579828).But kinematic pair number is few, structure is simple,
Such easy parallel main-shaft head structure of control also compares less.
Summary of the invention
The object of the present invention is to provide a kind of parallel institutions with space three-freedom, it can effectively increase moving platform
Pivot angle range and guarantee moving platform kinematic accuracy, can connect composition five-axle linkage mixed connection numerical control machining equipment with serial mechanism, gram
The shortcomings that having taken existing parallel main shaft head technology.
Parallel institution provided by the present invention with space three-freedom, including 3 movement branched chains being vertically arranged and
The moving platform being set in the space that 3 movement branched chains are surrounded；
Every movement branched chain includes a linear feeding system, and the linear feeding system drives the moving platform edge
Vertical direction is mobile；
3 movement branched chains are successively denoted as movement branched chain I, movement branched chain II and movement branched chain III；
The movement branched chain I is connected by connecting rod A with the moving platform, and the both ends of the connecting rod A pass through rotation
Pair is connected with the movement branched chain I and connecting rod B respectively, and the part body of rod at the nearly end the connecting rod B of the connecting rod A is logical
Revolute pair is crossed to be connected with the moving platform；
The movement branched chain II is connected by revolute pair with the other end of the connecting rod B；
The movement branched chain III is connected by connecting rod C with the moving platform, one end of the connecting rod C and the fortune
Dynamic branch III is connected by spherical linkage, rotatably mounted by two between the other end and the moving platform of the connecting rod C
The universal pair of degree is connected.
In the parallel institution, the linear feeding system includes driving device and linear guide；
A sliding block is connected by prismatic pair in the linear guide；
The driving device drives the sliding block to move along the linear guide, that is, realizes the movement of the movement branched chain certainly
By spending.
In the parallel institution, the driving device drives the ball screw turns, in turning for the ball-screw
Movement is mobile with the lower driving sliding block.
In the parallel institution, the driving device and the linear guide are set on fixed frame.
In the parallel institution, the connecting rod A is connected with the sliding block of the movement branched chain I；
The connecting rod B is connected with the sliding block of the movement branched chain II；
The connecting rod C is connected with the sliding block of the movement branched chain III.
Parallel institution provided by the invention with space double rotation freedom degrees and a translational degree of freedom, each branched structure letter
It is single, effectively ensure the high dynamic characteristic and stress balance characteristic of mechanism；The rotational freedom solution of mechanism X and Y both direction
Coupling, end moving platform therefore obtain higher angle range and preferable output accuracy be then the mechanism a protrusion it is excellent
Point；On the basis of the space two rotation-translation parallel institution, it may be implemented by using the form with series connection platform mixed connection
The numerical control processing ability of five-axle linkage processes efficient, the high-precision of complex free curved surface class part to realize.
Detailed description of the invention
Fig. 1 is the overall structure diagram for the parallel institution that the present invention has space three-freedom.
Fig. 2 is III structural schematic diagram of movement branched chain for the parallel institution that the present invention has space three-freedom.
It is respectively marked in figure as follows:
10 fixed frames, 11 linear guides, 12 ball-screws, 13,18,20 sliding blocks, 14 driving devices, 15 connecting rod A, 17 connect
Extension bar C, 19 connecting rod B, the universal pair of 16 double rotation freedom degrees, 101 movement branched chains I, 102 movement branched chains II, 103 movement branched chains
III, 201 moving platform.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing, but the invention is not limited to following embodiments.
As shown in Figure 1, the present invention can be used for the space two rotation-translation parallel institution of five-axle linkage hybrid CNC machine tool
Schematic diagram, including fixed frame 10, moving platform 201 and be spatially arranged vertically between fixed frame 10 and moving platform 201
Movement branched chain I 101, movement branched chain II 102 and movement branched chain III 103.Each movement branched chain have a set of same straight line into
To system comprising driving device 14, linear guide 11 and ball-screw 12, wherein driving device 14 and linear guide 11 are solid
Fixed to be arranged on fixed frame 10, driving device 14 drives ball-screw 12 to rotate.
In movement branched chain I 101, sliding block 13 is connect with linear guide 11 with prismatic pair, and sliding block 13 is driven the drive of device 14
Dynamic (moving under the rotation of ball-screw 12 along linear guide 11) is I 101 input motion of movement branched chain；The one of connecting rod A15
End is connect by revolute pair with sliding block 13, and the other end is connect by revolute pair with the connecting rod B19 in movement branched chain II 102, closely
The middle section body of rod at the end connecting rod B19 is connect by revolute pair with moving platform 201, the direction of three revolute pairs institute as shown in figure 1
Show.
In movement branched chain II 102, sliding block 20 is driven the driving of device 14 and (leads under the rotation of ball-screw 12 along straight line
Rail 11 is mobile), it is II 102 input motion of movement branched chain；One end of connecting rod B19 is connect by revolute pair with sliding block 21, another
End is connect by revolute pair with connecting rod A15, and the direction of revolute pair is as shown in fig. 1.
As shown in Fig. 2, sliding block 18 is driven the driving of device 14 (in the rotation of ball-screw 12 in movement branched chain III 103
It is lower to be moved along linear guide 11), it is III 103 input motion of movement branched chain；One end of connecting rod C17 is by spherical linkage (in figure
Do not mark) it is connect with sliding block 18, the other end is connect by the universal pair 16 of double rotation freedom degrees with moving platform 201, the side of universal pair
To as shown in Figure 2.
In parallel institution of the present invention, 3 movement branched chains are connect with moving platform 201 and fixed frame 10 respectively forms a sky
Between close loop mechanism, the input motion for passing through 3 sliding blocks drives moving platform 201 to move.Parallel institution of the present invention utilizes movement branched chain I
101, moving platform 201 and movement branched chain II 102, it is common to realize moving platform 201 around the rotational freedom in y-axis direction；Movement branch
Chain III 103 makes rotational freedom of the moving platform 201 with the direction x.Since 3 movement branched chains all have the freedom of movement in the direction z
Degree, therefore moving platform 201 also has z to one-movement-freedom-degree.Three branch collective effects make the mechanism have double rotation freedom degrees
With a translational degree of freedom
In the above embodiment of the present invention, driving device 14 uses servo motor-ball-screw feeding mode, passes through guide rail
11 provide the movement input an of one-movement-freedom-degree for sliding block, and in order to reach same purpose, driving device 14 can also be used
Linear motor feeding mode provides the movement input an of one-movement-freedom-degree for sliding block.Certainly, in the specific implementation process, adopt
With it is other any one can realize that the drive form of same movement function is all possible.Meanwhile modularization can be used in the present invention
Design, can be used cooperatively by the series connection mobile platform orthogonal with two of the mechanical interface on fixed frame, and then constitute five axis connection
Dynamic mixed connection numerical control processing unit.Wherein, machine tool chief axis and cutter can be installed on moving platform 201, part is completed and cut milling task.
It should be pointed out that the present invention be directed to the demands of Three Degree Of Freedom machine tooling unit to be proposed, but it is of the invention
Final application be not restricted to machine tooling field.In the case where not departing from the invention essence, take other form
Fixed frame (including shape and layout), driving method and hinge connection type and be applied to any field, should belong to this
The protection scope of invention.
Claims (1)
1. a kind of parallel institution with space three-freedom including 3 movement branched chains being vertically arranged and is set to described in 3
The moving platform in space that movement branched chain is surrounded；
Every movement branched chain includes a linear feeding system, and the linear feeding system drives the moving platform along vertical
Direction is mobile；
The linear feeding system includes driving device and linear guide；
A sliding block is connected by prismatic pair in the linear guide；
The driving device drives the sliding block to move along the linear guide；
The driving device drives ball screw turns, drives the sliding block mobile under the rotary action of the ball-screw；
The driving device and the linear guide are set on fixed frame；
3 movement branched chains are successively denoted as movement branched chain I, movement branched chain II and movement branched chain III；
The movement branched chain I is connected by connecting rod A with the moving platform, and the both ends of the connecting rod A pass through revolute pair point
It is not connected with the movement branched chain I and connecting rod B, the part body of rod at the nearly end the connecting rod B of the connecting rod A is by turning
Dynamic pair is connected with the moving platform；
The movement branched chain II is connected by revolute pair with the other end of the connecting rod B；
The movement branched chain III is connected by connecting rod C with the moving platform, one end of the connecting rod C and movement branch
Chain III is connected by spherical linkage, passes through double rotation freedom degrees between the other end and the moving platform of the connecting rod C
Universal pair is connected；
The connecting rod A is connected with the sliding block of the movement branched chain I；
The connecting rod B is connected with the sliding block of the movement branched chain II；
The connecting rod C is connected with the sliding block of the movement branched chain III.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610407036.0A CN105855921B (en) | 2016-06-12 | 2016-06-12 | Parallel institution with space three-freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610407036.0A CN105855921B (en) | 2016-06-12 | 2016-06-12 | Parallel institution with space three-freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105855921A CN105855921A (en) | 2016-08-17 |
| CN105855921B true CN105855921B (en) | 2019-01-04 |
Family
ID=56677422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610407036.0A Active CN105855921B (en) | 2016-06-12 | 2016-06-12 | Parallel institution with space three-freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105855921B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378917A (en) * | 2017-08-23 | 2017-11-24 | 中国地质大学（武汉） | A kind of machining center parallel main shaft head secondary without ball |
| CN108858141B (en) * | 2018-06-30 | 2023-12-19 | 福州大学 | Space two-rotation one-translation redundancy constraint parallel mechanism and working method thereof |
| CN111496765A (en) * | 2020-04-28 | 2020-08-07 | 清华大学 | Spatial two-rotation and one-movement three-degree-of-freedom parallel mechanism |
| CN112720423B (en) * | 2021-01-12 | 2022-03-25 | 山东理工大学 | Single-layer three-section guide rail type planar robot with double parallelograms |
| CN115015273A (en) * | 2022-06-24 | 2022-09-06 | 广东工业大学 | Automatic lens pose adjusting device, visual detection system and adjusting method |
| CN116223348A (en) * | 2022-11-28 | 2023-06-06 | 遨天科技(北京)有限公司 | Material electric erosion resistance and sputtering resistance detection device and detection method |
| CN117506871A (en) * | 2023-12-15 | 2024-02-06 | 天津大学 | Three-degree-of-freedom parallel mechanism, parallel robot and machine tool |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5847528A (en) * | 1995-05-19 | 1998-12-08 | Canadian Space Agency | Mechanism for control of position and orientation in three dimensions |
| CN1267581A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| CN102126217A (en) * | 2011-04-12 | 2011-07-20 | 浙江理工大学 | Asymmetrical structure parallel mechanism with two rotational degrees of freedom and one translational degree of freedom |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
| CN102922515A (en) * | 2012-11-12 | 2013-02-13 | 天津理工大学 | Two-rotation one-movement parallel mechanism capable of realizing motion decoupling |
| CN203092548U (en) * | 2013-03-13 | 2013-07-31 | 燕山大学 | Non-symmetric decoupling parallel connection mechanism with two rotational degrees of freedom, one translational degree of freedom and three degrees of freedom |
| CN104551714A (en) * | 2015-01-08 | 2015-04-29 | 清华大学 | Parallel mechanism with spatial two rotation and one translation freedom degrees |
| CN104889978A (en) * | 2015-07-01 | 2015-09-09 | 北京工业大学 | Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism |
-
2016
- 2016-06-12 CN CN201610407036.0A patent/CN105855921B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5847528A (en) * | 1995-05-19 | 1998-12-08 | Canadian Space Agency | Mechanism for control of position and orientation in three dimensions |
| CN1267581A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| CN102126217A (en) * | 2011-04-12 | 2011-07-20 | 浙江理工大学 | Asymmetrical structure parallel mechanism with two rotational degrees of freedom and one translational degree of freedom |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
| CN102922515A (en) * | 2012-11-12 | 2013-02-13 | 天津理工大学 | Two-rotation one-movement parallel mechanism capable of realizing motion decoupling |
| CN203092548U (en) * | 2013-03-13 | 2013-07-31 | 燕山大学 | Non-symmetric decoupling parallel connection mechanism with two rotational degrees of freedom, one translational degree of freedom and three degrees of freedom |
| CN104551714A (en) * | 2015-01-08 | 2015-04-29 | 清华大学 | Parallel mechanism with spatial two rotation and one translation freedom degrees |
| CN104889978A (en) * | 2015-07-01 | 2015-09-09 | 北京工业大学 | Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105855921A (en) | 2016-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105855906B (en) | A kind of parallel institution with space three-freedom | |
| CN105855921B (en) | Parallel institution with space three-freedom | |
| CN200951497Y (en) | Two-D moving and two-D rotation parallel platform mechanism | |
| CN107443173B (en) | Large-stroke high-rigidity serial-parallel machine tool with reconfigurable characteristic | |
| CN108555889B (en) | Space five-degree-of-freedom series-parallel processing equipment containing redundancy constraint and use method thereof | |
| CN110238821B (en) | High-redundancy-drive fully-symmetrical parallel mechanism with closed-loop unit | |
| CN104551714B (en) | Parallel mechanism with spatial two rotation and one translation freedom degrees | |
| CN102626870B (en) | Three-DOF (Degree of Freedom) parallel spindle head with single-DOF hinge | |
| CN200988220Y (en) | Parallel robot mechanism for realizing two dimension moving and rotation | |
| CN104625767B (en) | Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space | |
| CN103753234B (en) | A kind of multi-axis linkages | |
| CN103921268B (en) | For transporation by plane containing prrpr side chain parallel institution punching system | |
| CN109877813B (en) | Large-rotation-angle 2T2R four-degree-of-freedom parallel mechanism | |
| CN110026786B (en) | Large-stroke five-degree-of-freedom series-parallel machine tool with reconfigurable characteristic | |
| CN103753355A (en) | Multi-axis linkage device capable of realizing five-surface machining | |
| CN111496765A (en) | Spatial two-rotation and one-movement three-degree-of-freedom parallel mechanism | |
| CN201009243Y (en) | Mixed drive 6-freedom parallel mechanism containing plane 5-level closed chain | |
| CN107283427B (en) | Metamorphic parallel mechanism | |
| CN110053026B (en) | Five-freedom-degree series-parallel robot for workpiece machining | |
| CN100503150C (en) | Digital control machine tool with five degrees of freedom in parallel and series | |
| CN107876803A (en) | A kind of freedom degree parallel connection mainshaft head mechanism of redundant drive | |
| CN109079761B (en) | Two-rotation one-movement parallel robot with closed-loop branched chain | |
| CN112935897B (en) | Main feeding mechanism of parallel machine tool | |
| CN103753235A (en) | Multi-axis linkage based on modules in parallel | |
| CN111496766B (en) | Three-degree-of-freedom parallel mechanism based on electric cylinder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |