CN106002342B - A kind of five-axle linkage Series-parallel Machine - Google Patents
A kind of five-axle linkage Series-parallel Machine Download PDFInfo
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- CN106002342B CN106002342B CN201610514751.4A CN201610514751A CN106002342B CN 106002342 B CN106002342 B CN 106002342B CN 201610514751 A CN201610514751 A CN 201610514751A CN 106002342 B CN106002342 B CN 106002342B
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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
- B23Q1/64—Movable or adjustable work or tool supports characterised by the purpose of the movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Machine Tool Units (AREA)
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Abstract
The present invention relates to a kind of five-axle linkage Series-parallel Machines, belong to machine tool technology field；Including rack, moving platform, first, second, third branch and two-freedom rotary head；First, second branch is arranged symmetrically and structure is identical, is made of the connection framework and straight spur unit being linked in sequence from rack to moving platform；Third branch is made of the third branch link block and third branch straight spur unit being linked in sequence from rack to moving platform；Two-freedom rotary head realizes that two axis are mutually perpendicular to rotate by two servo motor drivings；Five-axle linkage Series-parallel Machine provided by the invention is compared with existing five-axis linkage machine tools, and each assembling geometrical relationship moved between secondary axis is simple, and each manufacturing process of components is simple, and working space is big, rigidity is high；The invention can be manufactured or be used in the industries such as industry, instrument, suitable for high-precision and complex-curved processing, can be generated apparent economic effect, be had a good application prospect.
Description
Technical field
The present invention relates to a kind of five-axle linkage Series-parallel Machines, belong to machine tool technology field.
Background technology
In general, parallel institution has higher rigidity, precision and bearing capacity than serial mechanism, and serial mechanism ratio is simultaneously
Online structure has the working space of bigger.Five-axle linkage Series-parallel Machine based on two turn of one shifting parallel institution combines parallel institution
And the advantages of serial mechanism, there is higher bearing capacity and larger working space.
At present, the most typical five-axle linkage Series-parallel Machine based on two turn of one shifting parallel institution is Sweden
The Tricept lathes of NeosRobotics companies production include fixed platform, moving platform, connection moving platform and four points of rack
The two-freedom rotary head of branch and connection moving platform, first, second, and third branched structure is identical, is UPS structure, and intermediate restraint divides
Branch is UP structures；It is in parallel that patent document CN102126217A discloses a kind of unsymmetric structure with two turn of one shift three degrees of freedom
Mechanism, the mechanism are made of three movement branches of rack, moving platform and connection frame and moving platform, the first branch and second point
Branch structure is identical, is RPS structures, and third branches into RPRU structures；Patent document CN103252683A discloses one kind five freely
Series-parallel Machine is spent, including column, lathe bed, workbench, supporting rack, moving platform, first, second, third branch and positioning head group
Into first, second branched structure is identical, is UPS structure, and third branches into UP structures；Patent document CN103144106B is disclosed
A kind of asymmetric parallel institution with two turn of one shift three degrees of freedom, the mechanism is by fixed platform, motion platform and connection two
Three branches composition of platform, first branches into URR structures, and second branches into URS structures, and third branches into RRU structures；Patent
Document CN101966501A discloses a kind of five degree of freedom spray robot based on 3-freedom parallel mechanism, and the mechanism is by solid
Fixed platform, motion platform and the three branches composition for connecting two platforms, three branched structures are identical, are RPS structures；Patent document
CN102126216A discloses a kind of symmetrical structure parallel institution with two turn of one shift three degrees of freedom, and the mechanism is flat by fixing
Platform, motion platform and the three branches composition for connecting two platforms, three branched structures are identical, are RPU structures；Patent document
CN102922515A discloses a kind of two turn of one shift three degrees of freedom space parallel mechanism, and the mechanism is by fixed platform, motion platform
With three branches composition of two platforms of connection, the first branch is identical with the second branched structure, is RPU structures, third, which branches into, to be contained
The SPR structures of parallelogram mechanism；Patent document CN103056870B discloses a kind of two turn of one shift three degrees of freedom parallel machine
Structure, the mechanism are made of three branches of two platforms of fixed platform, motion platform and connection, the first branch and the second branched structure
It is identical, it is RRS structures, third branches into SRR structures；Patent document CN103144095B discloses a kind of with two turn of one shifting three
The asymmetric parallel institution of degree of freedom, the mechanism are made of three branches of two platforms of fixed platform, motion platform and connection, the
One branches into URR structures, and second branches into UPS structure, and third branches into RPU structures；Patent document CN103144096B is disclosed
A kind of two turn of one shift three degrees of freedom is without the asymmetric parallel institution of Planar Mechanisms, and the mechanism is by fixed platform, motion platform and connection
Three branches composition of two platforms, first branches into SPR structures, and second branches into UPR structures, and third branches into UPS structure；Specially
Sharp document CN103600346A discloses a kind of two turn of one motion three-freedom-degree parallel mechanism, and the mechanism is flat by fixed platform, movement
Three branches composition of two platforms of platform and connection, the first branch is identical with the second branched structure, is RRS structures, and third branches into
SRR structures；Patent document CN103144095B discloses a kind of two turn of one asymmetric decoupling parallel mechanism of shift three degrees of freedom, including
Moving platform, rack, three branches for connecting moving platform and rack, first branches into UPR structures, and second branches into UPS structure, the
Three branch into RPU structures.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of five-axle linkage Series-parallel Machine, which is by one
3-freedom parallel mechanism and a two-freedom rotary head are connected in series, should different from the structure of existing any lathe
Lathe is with the assembling geometrical relationship between movement secondary axis is simple, working space is big, rigidity is high, it is easy etc. excellent to manufacture assembling
Point.
Technical solution is a kind of five-axle linkage Series-parallel Machine used by realizing the object of the invention, including rack, moves and puts down
Platform, first, second, and third branch being connected in parallel between rack and moving platform and be connected in series on moving platform two
Degree of freedom rotary head, first branch is arranged symmetrically with the second branch and structure is identical, is connected by from rack to moving platform sequence
The connection framework and straight line slide unit connect is formed, and the straight line slide unit includes servo motor, shaft coupling, leading screw, nut slider, support
Plate and the two long straight slide block guide rail for being symmetrically distributed in leading screw both sides, one end of connection framework connect by revolute pair with rack,
The other end is connect by revolute pair with the nut slider of straight line slide unit, and the support plate of straight line slide unit is connected to dynamic by compound spherical hinge
Platform；The third branch is by the third branch link block and third branch straight line slide unit structure that are linked in sequence from rack to moving platform
Into the third branch straight line slide unit includes servo motor, shaft coupling, leading screw, nut slider, support plate and is symmetrically distributed in silk
The two long straight slide block guide rail of thick stick both sides；One end of third branch link block is connect by revolute pair with rack, the other end and
The nut slider of three branch's straight line slide units is connected；The support plate of third branch straight line slide unit is connected to moving platform by revolute pair,
And the axis of the revolute pair is vertical with the direction of motion of third branch straight line slide unit；The two-freedom rotary head passes through two shafts
Orthogonal servo motor driving.
A kind of five-axle linkage Series-parallel Machine, including rack, moving platform, be connected in parallel between rack and moving platform
First, second and third branch and the two-freedom rotary head that is connected in series on moving platform, first branch and the second branch
It is arranged symmetrically and structure is identical, be made of the connection framework and electric cylinder being linked in sequence from rack to moving platform, the connection
One end of frame is connect by revolute pair with rack, the other end is connected by the cylinder barrel of revolute pair and electric cylinder, the work of electric cylinder
Stopper rod is connected to moving platform by compound spherical hinge；The third branch is connected by the third branch being linked in sequence from rack to moving platform
It connects block and third branch electric cylinder is formed, one end of third branch link block is connect by revolute pair with rack, the other end and the
The cylinder barrel of three branch's electric cylinders is connected, and the piston rod of third branch electric cylinder is connected to moving platform, and the rotation by revolute pair
Secondary axis is vertical with the direction of motion of third branch electric cylinder；The two-freedom rotary head is orthogonal by two shafts
Servo motor drives.
As shown from the above technical solution, five-axle linkage Series-parallel Machine provided by the invention, mainly by rack, moving platform,
It is connected in three between rack and moving platform branches in parallel and the two-freedom rotary head being connected on moving platform is formed, the
First, the second branched structure is identical, and for the UPS structure containing composite hinge, third branches into RPR structures, structure and existing lathe
Different, which can realize larger working space, and rigidity is high, and assembling manufacturing is easy；Linear motion by electric cylinder or
Straight line slide unit is realized, has simplified the structure of existing five-axis machine tool significantly, and is controlled simple.
Compared with prior art, the present invention simplifies for solution five-axis machine tool and is provided the problems such as increasing working space
A kind of technical solution of different designs, five-axle linkage Series-parallel Machine provided by the invention is series and parallel structure, respectively moves countershaft
Assembling geometrical relationship between line is simple, and each manufacturing process of components is simple；In the prior art, it is related to five axis Series-parallel Machines
Patent is more, but the structure of the present invention is different from the structure of existing any five-axle linkage Series-parallel Machine, and existing
These five-axis machine tools it is mostly complicated, working space is smaller, and the present invention movement secondary axis between assembling geometry close
System is simple, working space is big, rigidity is high；The invention can be manufactured or be used in the industries such as industry, instrument, suitable for high-precision
Degree and complex-curved processing, can generate apparent economic effect, have a good application prospect.
Description of the drawings
Fig. 1 is the complete machine structure schematic diagram of five-axle linkage Series-parallel Machine that embodiment 1 provides；
Fig. 2 is the structure diagram of the first or second branch of five-axle linkage Series-parallel Machine that embodiment 1 provides；
Fig. 3 is the structure diagram of the third branch of five-axle linkage Series-parallel Machine that embodiment 1 provides；
Wherein, 1.-rack, 2.-moving platform；The first branches of 1-, 11- connection frameworks, 12- straight line slide units, 12a- servos electricity
Machine, 12b- shaft couplings, 12c- support plates, 12d- leading screws, the straight slide block guide rails of 12e- long, 12f- nut sliders, R11- first are rotated
Pair, the second revolute pairs of R12-, S1- compound spherical hinges；The second branches of 2-, 21- connection frameworks, 22- straight line slide units；3- thirds branch,
31- thirds branch link block, 32- thirds branch straight line slide unit, 32a- servo motors, 32b- shaft couplings, 32c- support plates, 32d-
Leading screw, the straight slide block guide rails of 32e- long, 32f- nut sliders, R31- third revolute pairs, the 4th revolute pairs of R32-；4- two-freedoms turn
Head.
Fig. 4 is the complete machine structure schematic diagram of five-axle linkage Series-parallel Machine that embodiment 2 provides；
Fig. 5 is the structure diagram of the first or second branch of five-axle linkage Series-parallel Machine that embodiment 2 provides；
Fig. 6 is the structure diagram of the third branch of five-axle linkage Series-parallel Machine that embodiment 2 provides；
Wherein, 1.-rack, 2.-moving platform；The first branches of 1-, 11- connection frameworks, 12- electric cylinders, 12a- servo motors,
12b- cylinder barrels, 12c- piston rods, the first revolute pairs of R11-, the second revolute pairs of R12-, S1- compound spherical hinges；The second branches of 2-, 21-
Connection framework, 22- electric cylinders；3- thirds branch, 31- thirds branch link block, 32- thirds branch electric cylinder, 32a- servos electricity
Machine, 32b- cylinder barrels, 32c- piston rods, R31- third revolute pairs, the 4th revolute pairs of R32-；4- two-freedom rotary heads.
Specific embodiment
For that can further appreciate that present disclosure, function and feature, with reference to the accompanying drawings and examples to the present invention into
Row illustrates in detail, and present disclosure is not limited to following embodiment.
Embodiment 1：
The present invention provides a kind of five-axle linkage Series-parallel Machine, structure is as shown in Figure 1, including rack 1., moving platform
2. be connected in parallel rack 1. with moving platform 2. between have mutually isostructural first branch 1, the second branch 2 and structure phase
Different third branch 3 and be connected in series in moving platform 2. on two-freedom rotary head 4；
1. or moving platform 2. both sides and structure is identical first branch 1 and the second branch 2 are symmetrically arranged in rack, referring to figure
2, the first branch 1 and the second branch 2 are by the connection framework 11 and straight line slide unit 12 being 1. 2. linked in sequence to moving platform from rack
Form, the straight line slide unit 12 include servo motor 12a, shaft coupling 12b, support plate 12c, leading screw 12d, nut slider 12f and
The straight slide block guide rail 12e two long of leading screw 12d both sides is symmetrically distributed in, support plate 12c is the integrated support of straight line slide unit 12, is propped up
2. fagging 12c is connected to moving platform by compound spherical hinge S1, one end of leading screw 12d is connected by shaft coupling 12b and servo motor 12a
Connect, the other end is connected on support plate 12c, the straight slide block guide rail 12e both ends of two length are all respectively and fixedly connected on support plate 12c,
Leading screw 12d and nut slider 12f coordinates is converted into movement by rotation, and nut slider 12f is placed on two long straight slide block guide rail simultaneously
On 12e, the two straight slide block guide rail 12e of length play support and guiding role；1. one end of connection framework 11 passes through the first rotation with rack
Secondary R11 connections, the other end are connect by the second revolute pair R12 with the nut slider 12f of straight line slide unit 12, the first revolute pair R11
With the second revolute pair R12 axis co-planars and vertical, and the direction of motion of the second revolute pair R12 axis and straight line slide unit 12 is hung down
Directly；
Referring to Fig. 3, the difference lies in without connecting for the third branch 3 and first branch 1, the second branch 2
Frame 11, and add third branch link block 31, third branch 3 is by the third branch that is 1. 2. linked in sequence to moving platform from rack
Link block 31 and third branch straight line slide unit 32 are formed, and the third branch straight line slide unit 32 includes servo motor 32a, shaft coupling
32b, leading screw 32d, nut slider 32f, support plate 32c and the straight slide block guide rail 32e two long for being symmetrically distributed in leading screw both sides, branch
Fagging 32c is the integrated support of third branch straight line slide unit 32, and one end of leading screw 32d passes through shaft coupling 32b and servo motor 32a
Connection, the other end are connected on support plate 32c, and the straight slide block guide rail 32e both ends of two length are all respectively and fixedly connected to support plate 32c
On, leading screw 32d and nut slider 32f coordinates is converted into movement by rotation, and nut slider 32f is placed on two long straight sliding block and leads simultaneously
On rail 32e, the two straight slide block guide rail 32e of length play support and guiding role, and one end of third branch link block 31 and rack are 1.
Nut slider 32f by third revolute pair R31 connections, the other end and third branch straight line slide unit 32 is affixed, and third branch is straight
2. the support plate 32c of line slide unit 32 is connected to moving platform by the 4th revolute pair R32, the axis of the 4th revolute pair R32 perpendicular to
The direction of motion of third branch straight line slide unit 32；
First branch 1, the second branch 2 and third branch 3 respectively with rack 1. and moving platform 2. connect to be formed one three from
By degree parallel institution, the 3-freedom parallel mechanism by each straight line slide unit 12,22,32 by its servo motor 12a, 22a,
The rotation input of 32a is converted into linear movement, moving platform is driven 2. to move with this, realizes that two turns one moves three degree of freedom；
The tool of two-freedom rotary head 4 is there are two rotational freedom, and the rotation axis of two rotational freedoms mutually hangs down
Directly, two-freedom rotary head 4 drives electro spindle by two servo motor input motions, realizes two rotational freedoms, two freely
It spends rotary head 4 and forms a five-axle linkage Series-parallel Machine with 3-freedom parallel mechanism.
Embodiment 2：
The present invention provides a kind of five-axle linkage Series-parallel Machine, structure is as shown in figure 4, including rack 1., moving platform
2. be connected in parallel rack 1. with moving platform 2. between have mutually isostructural first branch 1, the second branch 2 and structure phase
Different third branch 3 and be connected in series in moving platform 2. on two-freedom rotary head 4；
1. or moving platform 2. both sides and structure is identical first branch 1 and the second branch 2 are symmetrically arranged in rack, referring to figure
5, the first branch 1 and the second branch 2 are by the connection framework 11 and electric cylinder 12 that are 1. 2. linked in sequence to moving platform from rack, institute
It states electric cylinder 12 and includes servo motor 12a, cylinder barrel 12b and piston rod 12c；One end of the connection framework 11 passes through the first rotation
1. secondary R11 is connect with rack, the other end passes through the cylinder barrel 12b connections of the second revolute pair R12 and electric cylinder, the first revolute pair R11
With R12 axis co-planars and vertically, and the second revolute pair R12 axis are vertical with the direction of motion of electric cylinder 12；The electric cylinder
Piston rod 12c 2. moving platform is connected to by compound spherical hinge S1；
Referring to Fig. 6, the difference lies in without connecting for the third branch 3 and first branch 1, the second branch 2
Frame 11, and add third branch link block 31, third branch 3 is by the third branch that is 1. 2. linked in sequence to moving platform from rack
Link block 31 and third branch electric cylinder 32 are formed, third branch electric cylinder 32 include servo motor 32a, cylinder barrel 32b and
Piston rod 32c, 1. one end of third branch electric cylinder 32 is connect with rack by third revolute pair R31, the other end and moving platform
2. by the 4th revolute pair R32 connections, the 4th revolute pair R32 axis are perpendicular to the direction of motion of third branch electric cylinder 32；
First branch 1, the second branch 2 and third branch 3 respectively with rack 1. and moving platform 2. connect to be formed one three from
By degree parallel institution, the 3-freedom parallel mechanism is by each electric cylinder 12,22,32 by its servo motor 12a, 22a, 32a
Rotation input be converted into linear movement, moving platform is driven 2. to move with this, realizes that two turns one moves three degree of freedom；
The tool of two-freedom rotary head 4 is there are two rotational freedom, and the rotation axis of two rotational freedoms mutually hangs down
Directly, two-freedom rotary head 4 drives electro spindle by two servo motor input motions, realizes two rotational freedoms, two-freedom
Rotary head 4 forms a five-axle linkage Series-parallel Machine with 3-freedom parallel mechanism.
Claims (2)
1. a kind of five-axle linkage Series-parallel Machine, including rack, moving platform, be connected in parallel between rack and moving platform
First, second and third branch and the two-freedom rotary head that is connected in series on moving platform, it is characterised in that：First branch
It is arranged symmetrically with the second branch and structure is identical, by the connection framework and straight line slide unit structure being linked in sequence from rack to moving platform
Into the straight line slide unit includes servo motor, shaft coupling, leading screw, nut slider, support plate and is symmetrically distributed in leading screw both sides
Two long straight slide block guide rail, one end of connection framework is connect by revolute pair with rack, the other end is slided by revolute pair and straight line
The nut slider connection of platform, the support plate of straight line slide unit are connected to moving platform by compound spherical hinge；The third branch is by slave
The third branch link block and third branch straight line slide unit that frame is linked in sequence to moving platform are formed, the third branch straight line slide unit
Including servo motor, shaft coupling, leading screw, nut slider, support plate and it is symmetrically distributed in the two long straight sliding blocks of leading screw both sides and leads
Rail；One end of third branch link block is connect by revolute pair with rack, the slide nut of the other end and third branch straight line slide unit
Block is connected；The support plate of third branch straight line slide unit is connected to moving platform, and the axis and third of the revolute pair by revolute pair
The direction of motion of branch's straight line slide unit is vertical；The two-freedom rotary head is driven by the orthogonal servo motor of two shafts
It is dynamic.
2. a kind of five-axle linkage Series-parallel Machine, including rack, moving platform, be connected in parallel between rack and moving platform
First, second and third branch and the two-freedom rotary head that is connected in series on moving platform, it is characterised in that：First branch
It is arranged symmetrically with the second branch and structure is identical, by the connection framework and electric cylinder structure being linked in sequence from rack to moving platform
Into, one end of the connection framework is connect by revolute pair with rack, the other end is connected by the cylinder barrel of revolute pair and electric cylinder,
The piston rod of electric cylinder is connected to moving platform by compound spherical hinge；The third branch from rack to moving platform by being linked in sequence
Third branch link block and third branch electric cylinder are formed, one end of third branch link block connect by revolute pair with rack,
The cylinder barrel of the other end and third branch electric cylinder is connected, and the piston rod of third branch electric cylinder is connected to dynamic put down by revolute pair
Platform, and the axis of the revolute pair is vertical with the direction of motion of third branch electric cylinder；The two-freedom rotary head is turned by two
The orthogonal servo motor driving of axis.
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| CN201610514751.4A CN106002342B (en) | 2016-07-01 | 2016-07-01 | A kind of five-axle linkage Series-parallel Machine |
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| CN201610514751.4A CN106002342B (en) | 2016-07-01 | 2016-07-01 | A kind of five-axle linkage Series-parallel Machine |
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| CN106002342B true CN106002342B (en) | 2018-07-03 |
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| CN114888777B (en) * | 2022-04-25 | 2023-11-21 | 浙江理工大学 | Motion redundancy two-to-one shift parallel mechanism with symmetrical structure |
| CN115070737B (en) * | 2022-07-26 | 2022-12-06 | 珞石（北京）科技有限公司 | Series-parallel robot |
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| CN106002342A (en) | 2016-10-12 |
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