CN1986148B - Parallel triaxial head structure - Google Patents
Parallel triaxial head structure Download PDFInfo
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- CN1986148B CN1986148B CN200610165571A CN200610165571A CN1986148B CN 1986148 B CN1986148 B CN 1986148B CN 200610165571 A CN200610165571 A CN 200610165571A CN 200610165571 A CN200610165571 A CN 200610165571A CN 1986148 B CN1986148 B CN 1986148B
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- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010079 rubber tapping Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 102000004315 Forkhead Transcription Factors Human genes 0.000 description 1
- 108090000852 Forkhead Transcription Factors Proteins 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Abstract
The present invention is parallel triaxial spindle head structure and belongs to the field of machine building technology. The parallel triaxial spindle head structure includes one spindle, one movable platform, one fixed platform, and three identical branches to connect the movable platform and the fixed platform, with the spindle being fixed onto the movable platform. Each of the three branches includes one input rod member, one multivariant hinge connected to the movable platform, and two kinematic pairs, including one driving one connected between the input rod member and the fixed platform and one driven one connected between the input rod member and the multivariant hinge. The present invention may operate alone or through coordination with other device, and has high rigidity, low moving mass, high dynamic performance, simple structure, low cost and other advantages.
Description
Technical field
The invention belongs to mechanical manufacturing field, relate to and a kind ofly can work alone and can cooperate other device to carry out the parallel triaxial main axle journal structure of Compound Machining.
Background technology
At present, a large amount of multi-functional milling machines all is equipped with one can realize rotating two shaft mainshaft heads continuously, these main tappings adopt the series-mode frame of double pendulum angle or fork head more, and a kind of fork wardrobe main shaft of having described a kind of A/C shaft mainshaft head and patent US 3483796 propositions as patent ZL03278067.2 is first-class.These main tappings often the transmission system complexity, structure is huge, moving-mass is big, and is difficult to install, manufacturing cost height, maintenance cost are also higher.
Over past ten years, a kind of new concept lathe-parallel machine has appearred in the world.On Chicago IMTS in 1994 was look at meeting (IMTS ' 94), long-pending left alone without help this of the U.S. put on display VARIAX and HOH600 parallel machine the first time in the world with this (Giddings﹠Lewis) company of Lightware with because of pavilion ear plug (Ingersoll) company.The mechanism of this parallel machine as shown in Figure 3, it comprises fixed platform 15, moving platform 17, is fixed on main tapping 16 and 6 identical side chains on the moving platform 17, wherein each side chain includes spherical hinge 18,20 and moving sets 19, spherical hinge 18 is connected with moving platform 17, and spherical hinge 20 is connected with fixed platform 15.This mechanism has 6 frees degree, realizes the pose of moving platform 15 by driving 6 moving sets on 6 side chains.
Above-mentioned machine adopted parallel-connection structure can be realized multiple functions such as the interlocked numerical controlled processing of multi-coordinate, assembling and measurement, has degree of modularity height, heavy moving parts is light, precision is high, and response is fast, advantages such as low cost of manufacture.Compare with traditional machine tool, virtual-shaft machine tool has been because of having adopted the form of tool motion, thereby improved performances such as its speed, acceleration, precision and rigidity.But in the application of reality, often do not need to use 6DOF mechanism, 3DOF mechanism just can meet the demands.Meanwhile, the free degree that reduces mechanism can reduce the manufacturing cost of mechanism.
Summary of the invention
The objective of the invention is to overcome the deficiency of existing tandem main-shaft head structure, utilize the structural principle of parallel machine, a kind of parallel triaxial main axle journal structure is provided, this main tapping can work alone and can cooperate other device to carry out Compound Machining; And have high rigidity, the harmonic motion quality, high dynamic performance, simple structure, identical parts quantity is many, and cost is low, easily makes and along characteristics such as moving directions.
A kind of parallel triaxial main axle journal structure that the present invention proposes is characterized in that this structure comprises: main shaft, a moving platform, a fixed platform, and three identical branches that connect described moving platform and fixed platform, and this main shaft is fixed on the moving platform; Wherein, in described three branches, each branch includes: the multiple degrees of freedom hinge importing rod member, be connected with described moving platform, and two kinematic pairs, a kinematic pair is the kinematic pair a that is connected between described input rod member and the fixed platform, another kinematic pair is the kinematic pair b that is connected between described input rod member and the multiple degrees of freedom hinge, and described kinematic pair a has one degree of freedom and drives, and described kinematic pair b has one or two free degree and is passive.
Characteristics of the present invention and technique effect
Moving platform of the present invention or main shaft have three independently frees degree, and with respect to three associated movements of fixed platform.The associated movement of structure can be described with two rotational freedoms.In addition, because structure of the present invention has symmetry, design parameter only need determine that the size of moving platform and fixed platform gets final product.
This main-shaft head structure has the following advantages: (1) is simple in structure; (2) design parameter is few; (3) rigidity height.These advantages make this mechanism be easier to design, and its flexibility ratio is better.
Description of drawings
Fig. 1 is the structural representation of the present invention three-axis main-shaft head structure first embodiment in parallel;
Fig. 2 is the structural representation of the present invention three-axis main-shaft head structure second embodiment in parallel.
Fig. 3 is six axial parallel machine tool structure schematic diagrames of prior art.
The specific embodiment
Parallel triaxial main axle journal structure of the present invention reaches embodiment in conjunction with the accompanying drawings and is described in detail as follows: first embodiment of the present invention's three-axis main-shaft head structure in parallel as shown in Figure 1, this structure comprises: main shaft, a moving platform, a fixed platform, and three identical branches that connect described moving platform and fixed platform, main shaft is fixed on the moving platform; Wherein, the shape of moving platform and fixed platform is equilateral triangle; An input rod member 2, moving sets 6, a cylindrical pair 7 and a universal coupling 3 are all contained in each branch, so this mechanism can be abbreviated as 3-PCU mechanism.Its annexation is: moving platform 4, three summits of this moving platform are connected with three summits of fixed platform 1 by three identical branches respectively.An end that connects moving platform in the branch is a universal coupling 3; Input rod member 2 is connected with universal coupling 3 (being passive) by cylindrical pair 7 (being passive); And fixed platform 1 is connected by a moving sets 6 (driving) with input rod member 2.Main shaft 5 is fixed on the moving platform, and this mechanism realizes that by a moving sets 6 that drives in each branch the pose of main shaft 5 changes.
Second embodiment of the present invention's three-axis main-shaft head structure in parallel as shown in Figure 2, this structure comprises: main shaft, a moving platform, a fixed platform, and three identical branches that connect described moving platform and fixed platform; Wherein, the shape of moving platform and fixed platform is equilateral triangle, and each branch all contains an input rod member, contains two moving sets and a spherical hinge, so this mechanism can be abbreviated as 3-PPS mechanism.Its annexation is: three summits of moving platform 11 are connected with three summits of fixed platform 8 by three identical branches.An end that connects moving platform in the branch is spherical hinge 10 (being passive); Spherical hinge 10 is connected with input rod member 9 indirectly by moving sets 14 (being passive); Fixed platform 8 then is connected by a moving sets 13 with input rod member 9.Main shaft 12 is fixed on the moving platform, and this mechanism realizes that by the moving sets 13 (driving) between fixed platform in each branch of driving and the input rod member pose of main shaft 10 changes.
In the above-described embodiments, spherical hinge 10 in the branch also can be directly to link to each other with input rod member 9, link to each other indirectly except that embodiment is described is that spherical hinge 10 is connected with moving sets 14 by rod member earlier, moving sets 14 is connected with input rod member 9 again, can also be that spherical hinge passes through other kinematic pair and is connected with the input rod member with rod member, should do the understanding of broad sense.
Claims (2)
1. parallel triaxial main axle journal structure, this structure comprises: main shaft, a moving platform, a fixed platform, and three identical branches that connect described moving platform and fixed platform, this main shaft is fixed on the moving platform; It is characterized in that, in described three branches, each branch includes: an input rod member, a universal hinge or a ball pivot that is connected with described moving platform, and two kinematic pairs, a kinematic pair is the moving sets a that is connected between described input rod member and the fixed platform, another kinematic pair is cylindrical pair or the moving sets b that is connected between described input rod member and universal hinge or the ball pivot, and described moving sets a drives, and described cylindrical pair or moving sets b are passive.
2. parallel triaxial main axle journal structure as claimed in claim 1 is characterized in that described moving platform and fixed platform are equilateral triangle, and three summits of this moving platform are connected with three summits of this fixed platform by described three identical branches respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610165571A CN1986148B (en) | 2006-12-22 | 2006-12-22 | Parallel triaxial head structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610165571A CN1986148B (en) | 2006-12-22 | 2006-12-22 | Parallel triaxial head structure |
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| Publication Number | Publication Date |
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| CN1986148A CN1986148A (en) | 2007-06-27 |
| CN1986148B true CN1986148B (en) | 2010-05-19 |
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| CN200610165571A Expired - Fee Related CN1986148B (en) | 2006-12-22 | 2006-12-22 | Parallel triaxial head structure |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101264576B (en) * | 2008-04-25 | 2010-10-06 | 清华大学 | Parallel type three-axis main-shaft head structure |
| CN101579828B (en) * | 2009-06-11 | 2011-09-14 | 清华大学 | Parallel 3-DOF drive mechanism of spindle head |
| CN102962840B (en) * | 2012-11-09 | 2014-12-24 | 燕山大学 | Parallel mechanism with symmetric structure and without associated movement |
| CN104227710A (en) * | 2014-09-28 | 2014-12-24 | 天津理工大学 | Spatial three-degree-of-freedom parallel mechanism |
| CN106049345B (en) * | 2016-06-28 | 2018-06-12 | 鲍菊芳 | It is a kind of for the cleaning of motor-car track from steady Mobile support device |
| CN108890322B (en) * | 2018-07-23 | 2019-08-16 | 江南大学 | Five bar sliding block parallel institution numerically controlled machining platform of double drive |
| CN109128872B (en) | 2018-09-26 | 2019-09-17 | 燕山大学 | A kind of symmetrical parallel three NC axes main tapping can be realized multi-direction Fixed-point Motion of A |
| CN109986542B (en) * | 2019-05-09 | 2024-09-20 | 中国科学院宁波材料技术与工程研究所 | Rigid-flexible hybrid type force control end effector driven by gas-electricity hybrid |
| CN110937093A (en) * | 2019-12-26 | 2020-03-31 | 中国科学院宁波材料技术与工程研究所 | Underwater equipment vector propeller |
| CN111843075B (en) * | 2020-07-30 | 2023-01-31 | 扬州大学 | Three-dimensional ultrasonic composite electrochemical generating and processing system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| 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 |
| CN1127401C (en) * | 2001-02-27 | 2003-11-12 | 燕山大学 | Three free degree moving parallel connected robot mechanism |
| US6808344B2 (en) * | 2002-12-27 | 2004-10-26 | Jeng-Shyong Chen | Multi-axis cartesian guided parallel kinematic machine |
| CN1261279C (en) * | 2004-03-01 | 2006-06-28 | 西安理工大学 | Three-axle parallel mainshaft head structure for implemonting multidirection verticel-horizontal processing |
-
2006
- 2006-12-22 CN CN200610165571A patent/CN1986148B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| 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 |
| CN1127401C (en) * | 2001-02-27 | 2003-11-12 | 燕山大学 | Three free degree moving parallel connected robot mechanism |
| US6808344B2 (en) * | 2002-12-27 | 2004-10-26 | Jeng-Shyong Chen | Multi-axis cartesian guided parallel kinematic machine |
| CN1261279C (en) * | 2004-03-01 | 2006-06-28 | 西安理工大学 | Three-axle parallel mainshaft head structure for implemonting multidirection verticel-horizontal processing |
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| CN1986148A (en) | 2007-06-27 |
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