CN1442274A - 3-2-1 structure six freedom orthogonal parallel connection machine tool - Google Patents
3-2-1 structure six freedom orthogonal parallel connection machine tool Download PDFInfo
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- CN1442274A CN1442274A CN 03102884 CN03102884A CN1442274A CN 1442274 A CN1442274 A CN 1442274A CN 03102884 CN03102884 CN 03102884 CN 03102884 A CN03102884 A CN 03102884A CN 1442274 A CN1442274 A CN 1442274A
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Abstract
A six-freedom orthogonal parallel machine-tool with 3-2-1 structure is composed of fixed bench, moving bench, 6 drive branches moving linearly for linking fixed bench with moving bench via ball-socket structures, and the mainshaft and cutting too installed on moving bench. Said 6 drive branches are divided into three groups in 3-2-1 mode. The centers of their ball-socket structures on moving bench are arranged on mutually pependicular 3 surfaces of a hexahedron. Its advantages are high linearity, simple control algorithm and high dynamic characteristics.
Description
Affiliated technical field
The present invention relates to mechanical manufacturing field, particularly relate to a kind of 3-2-1 structure six degree of freedom quadrature parallel machine.
Background technology
Parallel machine has overcome many shortcomings of traditional machine tool, has degree of modularity height, simple in structure, speed is fast and advantage such as good rigidity, and its shortcoming is the little and control algolithm complexity of working space.Parallel machine has become the new research focus in digital control processing field with its brand-new design concept and market potential demand since coming out the nineties.On Chicago IMTS in 1994 is look at meeting, U.S. Giddings ﹠amp; Lewis company and Ingersoll company put on display VARIAX and HOH600 parallel machine in the world for the first time, and Chinese scholars and lathe are made the development that the model machine of parallel machine is paid special attention in the commercial city after this.On EMO in 1997, a parallel machine model machine surplus the university of the U.S., Japan, Germany etc. and lathe manufacturer have put on display 10, in recent years, some institution of higher learning of China and scientific research institutions also drop into manpower and materials in succession, this new concept lathe is carried out research and development, and these units mainly contain Tsing-Hua University, University Of Tianjin, Harbin Institute of Technology, Northeastern University, Hebei University of Technology and Chinese Academy of Sciences's Shenyang Institute of Automation etc.Tsing-Hua University and University Of Tianjin's joint research and development VAMTIY parallel machine model machine, Harbin Institute of Technology and Northeastern University have also developed the model machine of parallel machine respectively, University Of Tianjin and Tianjin first machine tool plant's joint research and development 9 bar 3DOF parallel machine Linapod etc.But also there are the serious and problems such as assembling and processability of product structure difference of motion coupling in these achievements in research, thereby have increased control and manufacture difficulty.
Summary of the invention
In order to overcome existing parallel machine above shortcomings, the invention provides a kind of 3-2-1 structure six degree of freedom quadrature parallel machine, the parallel machine of this new construction has the good and processing and assembling of dynamic characteristic and waits outstanding advantage well.
The technical solution adopted for the present invention to solve the technical problems is: this parallel machine is by fixed station, the motion platform, the six roots of sensation straight line of platform and motion platform of being connected and fixed moves the electric main shaft and the cutting tool that drive branch road and be contained on the motion platform and forms, wherein six roots of sensation straight line moves and drives branch road and motion platform, the kinematic pair that fixed station links to each other is a ball pivot, it is characterized in that: six roots of sensation straight line moves and drives branch road by 3,2,1 is divided into first, second, the 3rd group, be distributed in length respectively with these the three groups centers that drive three groups of ball pivots that link to each other with motion platform of branch road correspondence, wide, height is respectively 2a, 2b, on basic hexahedral three mutually perpendicular surfaces of 2c, wherein, the center of three ball pivots of first group lays respectively on three summits of equilateral triangle that the length of side is 2d, the center of two ball pivots of second group lays respectively on two end points of length for the line segment of 2d, the geometric center that is centered close to hexahedron surface, basis, place of the 3rd group ball pivot; The characteristic distributions of six ball pivot points on the fixed station is similar with six ball pivot points on the motion platform; When three groups of driving branch roads were vertical with hexahedral three mutually perpendicular surfaces, basis respectively, this parallel machine was in the quadrature pose.
The invention has the beneficial effects as follows: this invention has advantages such as the system motion nonlinearity is low, control algolithm is simple, dynamic characteristic is good, processing and assembling is good.Electric main shaft on the motion platform and cutting tool move by six straight lines and drive the flexible of branch road, can realize the motion of optional position and attitude, thereby finish the processing of any space curved surface.
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is a 3-2-1 structure six degree of freedom quadrature parallel machine schematic diagram.
Fig. 2 is the schematic diagram of mechanism of 3-2-1 structure six degree of freedom quadrature parallel machine.
In Fig. 1,1. fixed station, 2. straight line moves the driving branch road, 3. motion platform, 4. electric main shaft and cutting tool.
Fig. 1 is an embodiment disclosed by the invention, this 3-2-1 structure six degree of freedom quadrature parallel machine moves the electric main shaft and the cutting tool 4 that drive branch road 2 and be contained on the motion platform by the six roots of sensation straight line of fixed station 1, motion platform 3, the platform 1 that is connected and fixed, motion platform 3 and forms, electric main shaft on the motion platform and cutting tool 4 move by six straight lines and drive the flexible of branch road 2, realize the motion of six-freedom degree.
The lathe of this new construction has a wide range of applications at the space curved surface manufacture field.
Claims (2)
1. 3-2-1 structure six degree of freedom quadrature parallel machine, comprise fixed station (1), motion platform (3), the six roots of sensation straight line of platform (1) and motion platform (3) of being connected and fixed moves and drives branch road (2) and be contained in electric main shaft and cutting tool (4) composition on the motion platform (3), wherein to move and drive branch road (2) be ball pivot with the kinematic pair that fixed station (1) links to each other with motion platform (3) to six roots of sensation straight line, it is characterized in that: six roots of sensation straight line moves and drives branch road (2) by 3,2,1 is divided into first, second, the 3rd group, be distributed in length respectively with these the three groups centers that drive three groups of ball pivots that link to each other with motion platform (3) of branch road correspondence, wide, height is respectively 2a, 2b, on basic hexahedral three mutually perpendicular surfaces of 2c, wherein, the center of three ball pivots of first group lays respectively on three summits of equilateral triangle that the length of side is 2d, the center of two ball pivots of second group lays respectively on two end points of length for the line segment of 2d, the geometric center that is centered close to hexahedron surface, basis, place of the 3rd group ball pivot.
2. six degree of freedom quadrature parallel machine according to claim 1 is characterized in that: the characteristic distributions of six ball pivot points on the fixed station (1) is similar with six ball pivot points on the motion platform (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03102884 CN1442274A (en) | 2003-02-06 | 2003-02-06 | 3-2-1 structure six freedom orthogonal parallel connection machine tool |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03102884 CN1442274A (en) | 2003-02-06 | 2003-02-06 | 3-2-1 structure six freedom orthogonal parallel connection machine tool |
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| CN1442274A true CN1442274A (en) | 2003-09-17 |
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| CN 03102884 Pending CN1442274A (en) | 2003-02-06 | 2003-02-06 | 3-2-1 structure six freedom orthogonal parallel connection machine tool |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1313248C (en) * | 2004-09-02 | 2007-05-02 | 中国科学院数学与系统科学研究院 | Parallel mechanism of formed by circular pair, circular pair and spherical pair |
| CN102962838A (en) * | 2012-11-15 | 2013-03-13 | 南京航空航天大学 | Six-degrees-of-freedom parallel mechanism with closed kinematics positive solution and analytic method thereof |
| CN105364913A (en) * | 2015-11-25 | 2016-03-02 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
-
2003
- 2003-02-06 CN CN 03102884 patent/CN1442274A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1313248C (en) * | 2004-09-02 | 2007-05-02 | 中国科学院数学与系统科学研究院 | Parallel mechanism of formed by circular pair, circular pair and spherical pair |
| CN102962838A (en) * | 2012-11-15 | 2013-03-13 | 南京航空航天大学 | Six-degrees-of-freedom parallel mechanism with closed kinematics positive solution and analytic method thereof |
| CN102962838B (en) * | 2012-11-15 | 2015-01-14 | 南京航空航天大学 | Six-degrees-of-freedom parallel mechanism with closed kinematics positive solution and analytic method thereof |
| CN105364913A (en) * | 2015-11-25 | 2016-03-02 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| CN105364913B (en) * | 2015-11-25 | 2017-03-22 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
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