CN1079042C - Parallel mechanism of parallel structure numerical control machine tool - Google Patents
Parallel mechanism of parallel structure numerical control machine tool Download PDFInfo
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- CN1079042C CN1079042C CN97116596A CN97116596A CN1079042C CN 1079042 C CN1079042 C CN 1079042C CN 97116596 A CN97116596 A CN 97116596A CN 97116596 A CN97116596 A CN 97116596A CN 1079042 C CN1079042 C CN 1079042C
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- connecting rod
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- column
- machine tool
- control machine
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Abstract
The present invention relates to a parallel mechanism of a numerical control machine tool with a parallel structure, which is composed of an upper base, a lower base, upright posts, slide blocks, connecting rods and a movable platform, wherein the upright posts are parallelly fixed to the upper base and the lower base to form a frame, and the slide blocks are respectively installed on the upright posts. The movable platform is connected the slide blocks by the connecting rods, and both ends of each connecting rod are respectively a sphere pair and a universal joint. The position and the attitude of the movable platform in space can be controlled by controlling the displacement of the slide blocks on the upright posts, and six upright posts can be uniformly or nonuniformly distributed on the base according to a definite geometric shape. The parallel mechanism with the structure has the advantages of large working space, small conformation change of the mechanism during the process of movement, etc., and creates possibilities for the practicability of the numerical control machine tool with a parallel structure.
Description
The present invention relates to a kind of executing agency of lathe, specifically provide a kind of parallel institution of parallel-connection structure Digit Control Machine Tool.
The parallel-connection structure Digit Control Machine Tool is meant with the parallel institution to be the lathe of executing agency, and this lathe has been considered to the revolution of machine tool structure since the twentieth century.Developed the model machine of this lathe at present in states such as the U.S., Japan, the parallel institution that is adopted is traditional Stewart (Stewart) mechanism.The mechanism that position and the attitude of this control cutter in the space changes mainly is made up of pedestal, motion platform and connecting rod, is linked to each other by connecting rod between pedestal and the motion platform, and the connecting rod two ends are respectively ball pair and universal joint.Have 6 connecting rods in this mechanism, but the adjustable length of connecting rod by controlling the length of 6 connecting rods, changes the position of cutter in the space.But because the connecting rod variable-length is limited in scope, therefore the working space of this mechanism is little, and mechanism's topographical variations is big in the motion process.These shortcomings have seriously restricted the Application and Development of parallel institution.
The parallel institution that the purpose of this invention is to provide a kind of parallel-connection structure Digit Control Machine Tool.Advantages such as it is big that this mechanism has a working space, and mechanism's topographical variations is little in the motion process, having created for the practicability of parallel-connection structure Digit Control Machine Tool may.
The parallel institution that is used for the parallel-connection structure Digit Control Machine Tool of the present invention carries out great improvement to existing parallel institution and is designed to a kind of mechanism of new-type structure, it is by last, bottom base, column, slide block, motion platform and connecting rod are formed, a plurality of columns are arranged in parallel and are fixed on, form a framework on the bottom base, be hollow in inner polygon that many root posts surround on the bottom base or the circle, slide block is installed in respectively on every root post, by control device slide block can be slided on column, link to each other with connecting rod between motion platform and the slide block, the connecting rod two ends are respectively ball pair and universal joint, during the displacement of control slide block on column, just can control position and the attitude of motion platform in the space.The structure of the other parts of parallel institution and control slide block mobile device etc. all routinely technology carry out design and installation, as unit head and cutter are installed, promptly constitute the parallel-connection structure Digit Control Machine Tool on motion platform.
In the above-mentioned parallel institution, the number of column is more suitable when adopting 6, and column can impartial or unequal being distributed on the pedestal by certain geometry, and the height of each column can be contour or not be waited.The structure of this column that is arranged in parallel can increase the stroke of slide block by the height that increases column under the constant situation of base size, and then increases the working space of cutter.Simultaneously, this structure also helps improving the accuracy of manufacture and drive motors and sensor is installed.
In parallel institution of the present invention, be not particularly limited for connecting rod, but long connecting rod (length of connecting rod＞1.5 column height) operation inconvenience, during too short connecting rod (length of connecting rod＜column long/2), slide block rises and motion platform to be taken in fully also be unfavorable for operation in the column frame, consider from the angle of manufacturing and practicality, preferable connecting rod takes to wait long connecting rod, and the length of connecting rod is high 1.1～0.8 times of column.Because the length of this connecting rod is constant, make lathe mechanism configuration in motion process change little.Below by accompanying drawing and example technology of the present invention is given to illustrate further.
Accompanying drawing 1 is a parallel institution structural representation of the present invention;
Accompanying drawing 2 is the parallel institution central post distribution map of structure shown in the accompanying drawing 1.
Among the figure, 1. top base; 2. bottom base; 3. column; 4. slide block; 5. connecting rod; 6. motion platform; 7. unit head; 8. cutter; α. minimum angle between two adjacent upright.
The parallel institution of structure can be one embodiment of the present of invention shown in attached Fig. 1 and 2, and it is made up of 6 columns, and corresponding 6 connecting rods and 6 slide blocks of having.6 contour columns (3) as shown in Figure 2, secured in parallel is on top base (1) and bottom base (2), bottom base (2) is a doughnut-shaped steel plate, 6 columns are distributed on the pedestal by certain geometrical shape is unequal.Slide block (4) is installed on the column (3), be connected with connecting rod (5) between motion platform (6) and slide block (4), connecting rod (5) two ends are respectively ball pair and universal joint, when controlling 6 slide blocks (4) when 6 columns (3) are upward mobile, transmission by ball pair, connecting rod and universal joint, can control position and the attitude of motion platform, make the unit head (7) and the cutter (8) that are installed on the motion platform (6) implement operation, finish the instruction process in the space.
As a concrete example, above-mentioned 6 columns (3) are contour column, and the α angle is 40 °, and connecting rod (5) is 6 and waits long connecting rod that the length of connecting rod (5) is 0.9 times of column (3).The other parts of parallel institution all routinely technology carry out design and installation.
This parallel institution of the present invention can be used for the parallel-connection structure Digit Control Machine Tool as executing agency, also can be used for motion simulator and as operator of robot etc.
Claims (4)
1. the parallel institution of a parallel-connection structure Digit Control Machine Tool, comprise pedestal, connecting rod, motion platform in the composition, it is characterized in that also having column and slide block, a plurality of columns are arranged in parallel to be fixed on and form a framework on the upper and lower pedestal, be hollow in inner polygon that many root posts surround on the bottom base or the circle, slide block is installed in respectively on every root post, by control device slide block can be slided on column, link to each other with connecting rod between motion platform and the slide block, the connecting rod two ends are respectively ball pair and universal joint.
2. according to the described parallel institution of claim 1, it is characterized in that forming by 6 columns, and corresponding 6 connecting rods and 6 slide blocks of having.
3. according to the described parallel institution of claim 2, it is characterized in that column takes contour column.
4. according to claim 2 or 3 described parallel institutions, it is characterized in that connecting rod takes to wait long connecting rod, and the length of connecting rod is high 1.1～0.8 times of column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN97116596A CN1079042C (en) | 1997-09-19 | 1997-09-19 | Parallel mechanism of parallel structure numerical control machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN97116596A CN1079042C (en) | 1997-09-19 | 1997-09-19 | Parallel mechanism of parallel structure numerical control machine tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1212197A CN1212197A (en) | 1999-03-31 |
| CN1079042C true CN1079042C (en) | 2002-02-13 |
Family
ID=5173968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN97116596A Expired - Fee Related CN1079042C (en) | 1997-09-19 | 1997-09-19 | Parallel mechanism of parallel structure numerical control machine tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1079042C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100363158C (en) * | 2006-01-25 | 2008-01-23 | 扬州大学 | Triaxial rotating device with conjugated sphere centre |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1098138C (en) * | 1999-12-23 | 2003-01-08 | 东北大学电脑技术中心 | Robotic machine-tool |
| CN1098745C (en) * | 2000-01-17 | 2003-01-15 | 河北工业大学 | Five-freedom five-shaft parallel virtual-shaft machine tool |
| CN1085129C (en) * | 2000-03-31 | 2002-05-22 | 清华大学 | Spindle swing mechanism for multi-coordinate numerically-controlled machine tool |
| CN1094085C (en) * | 2000-04-21 | 2002-11-13 | 清华大学 | Four-axial parallel machine tool structure with two-dimensional shift and two-dimensional rotation |
| CN1092092C (en) * | 2000-04-21 | 2002-10-09 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| CN1095725C (en) * | 2000-08-03 | 2002-12-11 | 河北工业大学 | Parallel machine tool capable of recombining three, four and five shafts |
| CZ301781B6 (en) * | 2009-01-23 | 2010-06-23 | Ústav teorie informace a automatizace AV CR, v.v.i | Robotic device |
| CN101850519A (en) * | 2010-05-28 | 2010-10-06 | 浙江大学 | Space five-freedom parallel machine tool |
| CN103821892B (en) * | 2014-03-19 | 2016-04-27 | 黑龙江科大科技开发有限公司 | A kind of magnetic six bar mechanism |
| CN111059431B (en) * | 2019-12-24 | 2022-11-15 | 燕山大学 | Two-degree-of-freedom parallel rotating platform with eccentric torque unloading device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0515888A1 (en) * | 1991-05-29 | 1992-12-02 | ANT Nachrichtentechnik GmbH | Support and pointing arrangement for antennes or telescopes |
| JPH07250522A (en) * | 1995-01-23 | 1995-10-03 | Iseki & Co Ltd | Rice transplanter provided with fertilizing apparatus |
| DE29607680U1 (en) * | 1996-04-27 | 1996-06-20 | Carl Zeiss Jena Gmbh, 07745 Jena | Arrangement for reducing the risk of crash in universal positioning systems |
-
1997
- 1997-09-19 CN CN97116596A patent/CN1079042C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0515888A1 (en) * | 1991-05-29 | 1992-12-02 | ANT Nachrichtentechnik GmbH | Support and pointing arrangement for antennes or telescopes |
| JPH07250522A (en) * | 1995-01-23 | 1995-10-03 | Iseki & Co Ltd | Rice transplanter provided with fertilizing apparatus |
| DE29607680U1 (en) * | 1996-04-27 | 1996-06-20 | Carl Zeiss Jena Gmbh, 07745 Jena | Arrangement for reducing the risk of crash in universal positioning systems |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100363158C (en) * | 2006-01-25 | 2008-01-23 | 扬州大学 | Triaxial rotating device with conjugated sphere centre |
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| Publication number | Publication date |
|---|---|
| CN1212197A (en) | 1999-03-31 |
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