CN110480602A - The mobile processing oscillating head mechanism in parallel of two rotation two - Google Patents

The mobile processing oscillating head mechanism in parallel of two rotation two Download PDF

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Publication number
CN110480602A
CN110480602A CN201910698452.4A CN201910698452A CN110480602A CN 110480602 A CN110480602 A CN 110480602A CN 201910698452 A CN201910698452 A CN 201910698452A CN 110480602 A CN110480602 A CN 110480602A
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China
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straight line
rod
line drive
groups
linear drives
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CN201910698452.4A
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Chinese (zh)
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CN110480602B (en
Inventor
赵铁石
田昕
吴振魁
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Yanshan University
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Yanshan University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics
    • B25J9/0063Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base

Abstract

The present invention discloses the mobile processing oscillating head mechanism in parallel of two rotation of one kind two comprising fixed cylinder, four groups of linear drives modules, four connecting rod branches and the moving platform with machining spindle.Four groups of linear drives modules are fixed in fixed cylinder, wherein one group of first straight line drive module and one group of second straight line drive module are fixed in fixed cylinder bilateral symmetry face, two groups of second straight line drive modules are fixed on fixed cylinder bilateral symmetry face two sides;Second straight line drive module is identical with the stretching barrel structure of third linear drives module, and passes through the stretching cylinder of first straight line drive module;One end of Liang Tiao first connecting rod branch is connect with the mobile terminal of two groups of first straight line drive modules respectively by turning joint, one end of Liang Tiao second connecting rod branch is connect with the mobile terminal of two groups of second straight line drive modules respectively by flexural pivot, and the other end of connecting rod branch is hinged with moving platform by universal.Dynamic property of the present invention is good, and rigidity is high, and machining accuracy is high, realizes Machining of Curved Surface.

Description

The mobile processing oscillating head mechanism in parallel of two rotation two
Technical field
The present invention relates to field of machining, the in particular to mobile processing oscillating head mechanism in parallel of two rotation of one kind two.
Background technique
Processing head in parallel has many advantages, such as that rigidity is big, precision is high, freedom degree is more compared to serial mechanism, is applied to machining Field can realize Machining of Curved Surface, effectively improve machining accuracy, to national aerospace, ship, precision instruments, a medical treatment The industries such as equipment have important influence power.
Parallel connection processing head is mostly 3-freedom parallel mechanism at present, such as Z3 main tapping.In the prior art, application No. is A kind of parallel institution that two-dimensional translation and two-dimensional rotation may be implemented is disclosed in 200910228104.7 patent document comprising Fixed frame, moving platform and four branched structures, the present invention in branched structure be substantially by straight line units and fixed length rod piece Composition, four branches are evenly arranged in surrounding type, and there are singularity problems, in practical applications to the more demanding of servo motor Even damage servo motor.Application No. is disclosing in 201010507587.7 patent document, a kind of space four-degree-of-freedom is in parallel Mechanism and spray robot, wherein spraying operation mechanism is four branch's parallel institutions, and four linear drives branches directly drive dynamic Platform, drive rod swing occupied space is larger, is not suitable as the mechanism of processing head in parallel, and the arrangement of mechanism form has surprise Anisotropic problem, motion state be not good enough.Singularity problem is solved, is the key that processing head in parallel is applied to production practices.
Summary of the invention
Aiming at the shortcomings in the prior art, the in parallel processing pendulum mobile the purpose of the present invention is to provide two rotation two of one kind Head mechanism, complex-curved it can be used to process, yaw is processed in high, at low cost, the easy for installation four-degree-of-freedom parallel connection of rigidity.
Technical scheme is as follows:
The mobile in parallel processing oscillating head mechanisms of two rotation of one kind two comprising fixed cylinder, linear drives module, connecting rod and dynamic Platform;The moving platform has machining spindle, and the first surface of the moving platform is arranged in the machining spindle, and the connecting rod turns The dynamic second surface for being connected to the moving platform, the linear drives module include first straight line drive module, second straight line drive Dynamic model block and third linear drives module, wherein one group of first straight line drive module and one group of second straight line drive module are fixed on In mounting rack bilateral symmetry face, two groups of third linear drives modules are fixed on mounting rack bilateral symmetry face two sides.
Preferably, the first end of two first connecting rods is straight with first straight line drive module and second respectively by turning joint The connection of line drive module, the second end of each first connecting rod are connect by universal hinge with the moving platform, and the of two articles of second connecting rods One end is connect with two groups of second straight line drive modules respectively by universal hinge, and the second end of each second connecting rod and the moving platform are logical Cross flexural pivot connection.
Preferably, two first connecting rod arranged crosswises.
Preferably, the first straight line drive module and second straight line drive module are fixed on fixed cylinder bilateral symmetry face Interior, two groups of third linear drives module symmetries are fixed on fixed cylinder bilateral symmetry face two sides;The first end of two first connecting rods is logical It crosses turning joint to connect with the mobile terminal of two groups of first straight line drive modules respectively, the first end of two second connecting rods passes through flexural pivot It is connect respectively with the mobile terminal of two groups of third linear drives modules;The second end of each first connecting rod sum and each second connecting rod sum Second end is hinged with moving platform by universal, and four universal coupling tie points on the second surface of moving platform circumferentially It is evenly arranged, two first connecting rods are arranged crosswise.
Preferably, one of first connecting rod is provided with the through slot being arranged along its length, another first connecting rod from It is passed through in the slot of the first connecting rod, and two first connecting rods do not generate interference during exercise.
Preferably, it is fixed with four groups of linear drives module first straight line drive modules in the fixed cylinder and second straight line is driven Dynamic model block is fixed in fixed cylinder bilateral symmetry face, and two groups of third linear drives module symmetries are fixed on fixed cylinder bilateral symmetry face Two sides;The first end of two first connecting rods by turning joint respectively with first straight line drive module and second straight line drive module Mobile terminal connection, the first ends of two second connecting rods connected with the mobile terminal of two groups of third linear drives modules respectively by flexural pivot It connects;The second end of each first connecting rod and the second end of each second connecting rod are hinged with moving platform by universal, and four universal Hinge tie point is circumferentially evenly arranged on the second surface of moving platform.
Preferably, each first connecting rod and each second connecting rod do not intersect;Each first connecting rod is arranged symmetrically, and each second connects Bar is arranged symmetrically, and each connecting rod does not intersect.
Preferably, four groups of linear drives modules are the drive part that oscillating head mechanism is processed in the parallel connection, and mobile terminal is solid Surely there is stretching body;Wherein first straight line drive module is identical with the stretching body structure of third linear drives module, and passes through second The stretching body of linear drives module;The stretching body structure of four groups of linear drives modules is all the same.
Preferably, the first straight line drive module and two groups of third linear drives modules are circumferentially evenly arranged, and the Two linear drives modules are symmetrical about the center of circle and first straight line drive module;Four hinge tie points of the moving platform are along circle Week is evenly arranged;Two first connecting rod equal lengths, and two first connecting rods are arranged crosswise;Two second connecting rods Length is also equal, and the commutative arrangement of hinge at two second connecting rod both ends.
Preferably, the linear drives module is four groups;The connecting rod is four.
Compared with prior art, the invention has the following advantages that
1, the present invention efficiently solves in parallel add by adjusting the configuration of hinge point position and connecting rod branch arranged crosswise The singularity problem of foreman, Windsor.
2, the present invention is four-degree-of-freedom parallel connection processing head, compares freedom degree parallel connection processing head, is applied in five-axis robot When the heart, the motion guide rail of required addition is few and movement is more flexible.
3, structure of the invention is compact, and moving link quality is small, and inertia is small, and dynamic property is good and precision is high.
4, the present invention, can be effective using the stretching cylinder of second straight line drive module as the guide cylinder of region linear drives module Increase the rigidity of processing head, guarantees precision.
The above feature allows the invention to meet well processing head in the actual requirement of engineering, realizes high speed, height Precision Machining of Curved Surface.
Detailed description of the invention
Fig. 1 is the fixed cylinder solid simplified schematic diagram of the mobile processing oscillating head mechanism in parallel of two rotation two of the invention;
Fig. 2 is the three-dimensional simplified schematic diagram of the embodiment 1 of the mobile processing oscillating head mechanism in parallel of two rotation two of the invention;
Fig. 3 is the three-dimensional simplified schematic diagram of the embodiment 2 of the mobile processing oscillating head mechanism in parallel of two rotation two of the invention;And
Fig. 4 is the three-dimensional simplified schematic diagram of the embodiment 3 of the mobile processing oscillating head mechanism in parallel of two rotation two of the invention.
Description of symbols: 1 indicates fixed cylinder;11 indicate the bilateral symmetry face of fixed cylinder;21 indicate second straight line driving Module;22 indicate first straight line drive module;31 and 32 indicate first connecting rod;41 and 42 indicate third linear drives module;51 Second connecting rod is indicated with 52;6 indicate to have the moving platform of machining spindle.
Specific embodiment
Below with reference to the attached drawing exemplary embodiment that the present invention will be described in detail, feature and aspect of performance.It is identical in attached drawing Appended drawing reference indicate element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, remove It non-specifically points out, it is not necessary to attached drawing drawn to scale.
The mobile processing oscillating head mechanism in parallel of two rotation two according to the present invention is shown in Fig. 1 to Fig. 4 comprising fixed Cylinder, linear drives module, connecting rod and moving platform are connected with machining spindle on moving platform, it is preferable that machining spindle is arranged far from On the end face of the moving platform of each connecting rod, i.e., machining spindle is arranged on the first surface of moving platform.
The second surface of moving platform is connected with first connecting rod branch and second connecting rod branch, and first connecting rod branch includes two First connecting rod, second connecting rod branch include two second connecting rods.
The present invention includes fixed cylinder, four groups of linear drives modules, four connecting rods and the moving platform with machining spindle;Peace It shelves and is fixed with four groups of linear drives modules, wherein one group of first straight line drive module and one group of second straight line drive module are solid It being scheduled in mounting rack bilateral symmetry face, two groups of third linear drives module symmetries are fixed on mounting rack bilateral symmetry face two sides, and Distance apart from first straight line drive module be greater than second straight line drive module apart from offset placement;Two first connecting rods One end connect respectively by turning joint with first straight line drive module and second straight line drive module, the other end lead to universal hinge and Band moving platform connects;One end of Liang Tiao second connecting rod branch is connect with two groups of third linear drives modules respectively by flexural pivot, separately One end is hinged with moving platform by universal.
Four groups of linear drives modules are the drive part that oscillating head mechanism is processed in the parallel connection, and mobile terminal is fixed with stretching set; Wherein one group of first straight line drive module is identical with the stretching nested structure of two groups of third linear drives modules, and passes through second straight line The stretching set of drive module.
The stretching nested structure of four groups of linear drives modules is all the same.
Four hinge tie points of moving platform are circumferentially evenly arranged.
Two first connecting rods are arranged crosswise, two second connecting rod equal lengths, and two second connecting rod both ends Be hinged commutative arrangement.
Two first connecting rods can be non-crossing arrangement.
Embodiment 1
In the mobile processing oscillating head mechanism schematic diagrames in parallel of two rotation two shown in Fig. 2, be fixed in fixed cylinder 1 four groups it is straight Line drive module 21,22,41,42, wherein second straight line drive module 21 and first straight line drive module 22 are fixed on fixed cylinder 1 In bilateral symmetry face, two groups of third linear drives modules 41,42 are symmetrically fixed on bilateral symmetry face two sides, and two groups of third straight lines drive The nearly second straight line drive module 21 of dynamic model block 41 and 42 is arranged, and first straight line drive module 22 and two groups of third linear drives moulds Block 41,42 passes through the mobile terminal of second straight line drive module 21, and the first end of two first connecting rods 31,32 passes through turning joint point It is not connect with the mobile terminal of second straight line drive module 21 and first straight line drive module 22, and two first connecting rods 31,32 are handed over Fork arrangement;Preferably, two first connecting rods do not contact.The first end of two second connecting rods 51,52 by flexural pivot respectively with two groups The mobile terminal of third linear drives module 41,42 connects;The second end of each first connecting rod 31,32 and each second connecting rod 51,52 Second end is hinged with the moving platform 6 with machining spindle by universal, and four universal coupling tie points are in moving platform Second surface is circumferentially evenly arranged.
Embodiment 2
Fig. 3 is the structural representation according to the mobile processing oscillating head mechanism in parallel of the two of second embodiment of the present invention rotation two Figure is wherein fixed with four groups of linear drives modules 21,22,41,42 in fixed cylinder 1, first straight line drive module 22 and second is directly Line drive module 21 ' is fixed in 1 bilateral symmetry face of fixed cylinder, and two groups of third linear drives modules 41,42 are symmetrically fixed on 1 bilateral symmetry face two sides of safety barrel;The first end of two first connecting rods 31,32 is driven with two groups of first straight lines respectively by turning joint The mobile terminal of dynamic model block connects, the first ends of two second connecting rods 51,52 by flexural pivot respectively with two groups of third linear drives moulds The mobile terminal of block 41,42 connects;The second end of each first connecting rod 31 and 32 and the second end of each second connecting rod 51 and 52 with Moving platform 6 is hinged by universal, and four universal coupling tie points circumferentially uniform cloth on the second surface of moving platform 6 ' It sets, two first connecting rods 31,32 are arranged crosswise.
Further, first connecting rod 31 is above to be provided with the through slot being arranged along its length, and first connecting rod 32 is from It is passed through in the slot of one connecting rod 31, and two first connecting rods 31 and 32 are non-interference during the motion.
Preferably, the shape of fixed cylinder 1 is pentagon.
Embodiment 3
The mobile processing oscillating head mechanism schematic diagram in parallel of two rotation two of third embodiment according to the present invention shown in Fig. 4 In, four groups of linear drives modules 21,22,41,42 are fixed in fixed cylinder 1, first straight line drive module 21 and second straight line are driven Dynamic model block 22 is fixed in 1 bilateral symmetry face of fixed cylinder, and two groups of third linear drives modules 41,42 are symmetrically fixed on a fixed cylinder left side Right plane of symmetry two sides;The first end of two first connecting rods 31,32 by turning joint respectively with first straight line drive module 22 and The mobile terminal of second straight line drive module 21 connects, the first ends of two articles of second connecting rods 51,52 by flexural pivot respectively with two groups the The mobile terminal of three linear drives modules 41,42 connects;The second end of each first connecting rod 31,32 and each second connecting rod 51,52 Second end and moving platform 6 are hinged by universal, and four universal coupling tie points on the second surface of moving platform 6 circumferentially It is evenly arranged.
Third embodiment according to the present invention, each first connecting rod and each second connecting rod do not intersect.Each first connecting rod is symmetrical Arrangement, each second connecting rod is arranged symmetrically, and each connecting rod does not intersect.
Preferably, the shape of fixed cylinder 1 is pentagon.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses Mode, however the present invention is not limited thereto.Those skilled in the art should understand that: it still can be to aforementioned implementation Technical solution documented by example is modified, or is equivalently replaced to part of or all technical features;And these are repaired Change or replaces, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.

Claims (10)

1. the mobile in parallel processing oscillating head mechanisms of two rotation of one kind two, which is characterized in that it include fixed cylinder, linear drives module, Connecting rod and moving platform;The moving platform has machining spindle, and the first surface of the moving platform is arranged in the machining spindle, The link rotatable is connected to the second surface of the moving platform, the linear drives module include first straight line drive module, Second straight line drive module and third linear drives module;Wherein one group of first straight line drive module and one group of second straight line driving Module is fixed in fixed cylinder bilateral symmetry face, and two groups of third linear drives modules are fixed on mounting rack bilateral symmetry face two sides.
2. the mobile in parallel processing oscillating head mechanisms of two rotation two as described in claim 1, which is characterized in that two first connecting rods First end is connect respectively by turning joint with first straight line drive module and second straight line drive module, and the of each first connecting rod Two ends are connect by universal hinge with the moving platform, and the first end of two second connecting rods is straight with two group second respectively by universal hinge The connection of line drive module, the second end of each second connecting rod are connect with the moving platform by flexural pivot.
3. the mobile processing oscillating head mechanism in parallel of two rotation two as claimed in claim 2, which is characterized in that two described first connect Bar arranged crosswise.
4. the mobile processing oscillating head mechanism in parallel of two rotation two as described in claim 1, which is characterized in that the first straight line is driven Dynamic model block and second straight line drive module are fixed in fixed cylinder bilateral symmetry face, and two groups of third linear drives module symmetries are fixed In fixed cylinder bilateral symmetry face two sides;The first end of two first connecting rods is driven with two groups of first straight lines respectively by turning joint The mobile terminal of module connects, and the first end of two second connecting rods passes through the flexural pivot movement with two groups of third linear drives modules respectively End connection;Each first connecting rod and second end and each second connecting rod and second end be hinged with moving platform by universal, And four universal coupling tie points are circumferentially evenly arranged on the second surface of moving platform, two first connecting rods are to intersect cloth It sets.
5. the mobile processing oscillating head mechanism in parallel of two rotation two as claimed in claim 4, which is characterized in that one of them first company Bar is provided with the through slot being arranged along its length, and another first connecting rod is passed through from the slot of the first connecting rod, and two article One connecting rod does not generate interference during exercise.
6. the mobile processing oscillating head mechanism in parallel of two rotation two as described in claim 1, which is characterized in that solid in the fixed cylinder Surely there are four groups of linear drives modules, first straight line drive module and second straight line drive module are fixed on fixed cylinder bilateral symmetry face Interior, two groups of third linear drives module symmetries are fixed on fixed cylinder bilateral symmetry face two sides;The first end of two first connecting rods is logical Turning joint is crossed to connect with the mobile terminal of first straight line drive module and second straight line drive module respectively, two second connecting rods First end is connect with the mobile terminal of two groups of third linear drives modules respectively by flexural pivot;The second end of each first connecting rod and each The second end of second connecting rod is hinged with moving platform by universal, and four universal coupling tie points are in the second surface of moving platform On be circumferentially evenly arranged.
7. the mobile processing oscillating head mechanism in parallel of two rotation two as claimed in claim 6, which is characterized in that each first connecting rod Do not intersect with each second connecting rod;Each first connecting rod is arranged symmetrically, and each second connecting rod is arranged symmetrically, and each connecting rod is not handed over Fork.
8. the mobile processing oscillating head mechanism in parallel of two rotation two as described in claim 1, which is characterized in that four groups of straight lines drive Dynamic model block is the drive part that oscillating head mechanism is processed in the parallel connection, and mobile terminal is fixed with stretching body;Wherein first straight line drives mould Block is identical with the stretching body structure of third linear drives module, and passes through the stretching body of second straight line drive module;Described four groups The stretching body structure of linear drives module is all the same.
9. the mobile processing oscillating head mechanism in parallel of two rotation two as claimed in claim 8, which is characterized in that the first straight line is driven Dynamic model block and two groups of third linear drives modules are circumferentially evenly arranged, and second straight line drive module is about the center of circle and first Linear drives module symmetry;Four hinge tie points of the moving platform are circumferentially evenly arranged;Two first connecting rods are long Spend it is equal, and two first connecting rods be arranged crosswise;Two second connecting rod length are also equal, and two second connecting rods The commutative arrangement of the hinge at both ends.
10. the mobile processing oscillating head mechanism in parallel of two rotation two as described in claim 1, which is characterized in that the linear drives Module is four groups;The connecting rod is four.
CN201910698452.4A 2019-07-31 2019-07-31 Two-rotation two-movement parallel machining swing head mechanism Active CN110480602B (en)

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CN201910698452.4A CN110480602B (en) 2019-07-31 2019-07-31 Two-rotation two-movement parallel machining swing head mechanism

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CN110480602B CN110480602B (en) 2021-03-02

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003172418A (en) * 2001-12-07 2003-06-20 Koji Kondo Parallel mechanism robot arm (3)
CN1772444A (en) * 2005-11-11 2006-05-17 华南理工大学 Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions
CN101244559A (en) * 2008-03-17 2008-08-20 燕山大学 Dual drive four-freedom space parallel mechanism
CN101708612A (en) * 2009-11-09 2010-05-19 天津大学 Parallel mechanism with two-dimensional translation and two-dimensional rotation
CN201625979U (en) * 2010-02-26 2010-11-10 深圳先进技术研究院 Parallel robot with four degrees of freedom
CN104029196A (en) * 2014-05-21 2014-09-10 燕山大学 Three-rotation one-movement symmetric four-degree-of-freedom parallel mechanism
WO2015136648A1 (en) * 2014-03-12 2015-09-17 株式会社安川電機 Parallel link mechanism, robot and assembly device
CN108972509A (en) * 2018-08-07 2018-12-11 浙江理工大学 A kind of 3-freedom parallel mechanism with multiple operation modes
CN109732569A (en) * 2019-03-19 2019-05-10 北华航天工业学院 A kind of change born of the same parents' parallel institution

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003172418A (en) * 2001-12-07 2003-06-20 Koji Kondo Parallel mechanism robot arm (3)
CN1772444A (en) * 2005-11-11 2006-05-17 华南理工大学 Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions
CN101244559A (en) * 2008-03-17 2008-08-20 燕山大学 Dual drive four-freedom space parallel mechanism
CN101708612A (en) * 2009-11-09 2010-05-19 天津大学 Parallel mechanism with two-dimensional translation and two-dimensional rotation
CN201625979U (en) * 2010-02-26 2010-11-10 深圳先进技术研究院 Parallel robot with four degrees of freedom
WO2015136648A1 (en) * 2014-03-12 2015-09-17 株式会社安川電機 Parallel link mechanism, robot and assembly device
CN104029196A (en) * 2014-05-21 2014-09-10 燕山大学 Three-rotation one-movement symmetric four-degree-of-freedom parallel mechanism
CN108972509A (en) * 2018-08-07 2018-12-11 浙江理工大学 A kind of 3-freedom parallel mechanism with multiple operation modes
CN109732569A (en) * 2019-03-19 2019-05-10 北华航天工业学院 A kind of change born of the same parents' parallel institution

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