CN201073733Y - 6-DOF parallel mechanism used for mechanic measuring machine and virtual axis NC machine tool - Google Patents
6-DOF parallel mechanism used for mechanic measuring machine and virtual axis NC machine tool Download PDFInfo
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- CN201073733Y CN201073733Y CNU2007200750253U CN200720075025U CN201073733Y CN 201073733 Y CN201073733 Y CN 201073733Y CN U2007200750253 U CNU2007200750253 U CN U2007200750253U CN 200720075025 U CN200720075025 U CN 200720075025U CN 201073733 Y CN201073733 Y CN 201073733Y
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- moving platform
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- spherical
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Abstract
The utility model relates to a 6-DOF parallel combined mechanism for mechanical measuring machine and virtual axis NC machine tool, which comprises an upper moving platform, a lower static platform, two mixing chains with the same structure, and two open chains with the same structure. The mixing chains and the open chains are connected with the upper moving platform and the lower static platform. A spacial loop structure in the mixing chain comprises two spherical pair-spherical pair-revolution pair type branch chains containing two members, two externally-connected spherical pairs of the two branch chains are movably connected in common spherical center, and again form a composite spherical pair connection with the upper moving platform, the externally-connected revolution pairs are respectively connected with the lower static platform mechanically; the simple open chain is composed of two members that are connected by a spherical pair, wherein one member is connected mechanically with the lower static platform by the revolution pair, the other member is also connected mechanically with the upper moving platform by a spherical pair. The movement of six driving joints on the lower static platform is controlled so that the upper moving platform can be controlled so as to realize three dimensional translation and three dimensional revolution output. The mechanism can be used as the execution mechanism of parallel structural measuring machine, virtual axis NC machine tool and various moving platforms.
Description
Technical field
The utility model relates to the executing agency of lathe, robot, coordinate measuring machine and multi-degree-of-freedom motion platform, and specifically virtual-axis nc machine tool, imaginary axis parallel coordinate measuring machine and the parallel robot for parallel-connection structure provides a kind of novel six-degree-of-freedom parallel connection mechanism.
Background technology
The parallel-connection structure Digit Control Machine Tool 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, China, the parallel institution that is adopted mostly is traditional Stewart mechanism or its improved mechanism greatly, they mainly are made up of pedestal, motion platform and connecting rod, the connecting rod two ends are respectively ball pair and universal joint, by controlling the length of 6 connecting rods, change the position of cutter in the space.Stewart mechanism and improved mechanism thereof have following shortcoming: 1. forward kinematics solution is found the solution difficulty; 2. the position of motion platform and direction are close coupling; 3. space is less; 4. make the secondary difficulty of high-precise ball.Based on above-mentioned situation, Tsai proposes virtual-axis nc machine tool with two parallel institutions: lower platform is a parallel 2 D translation mechanism, and upper mounting plate is Three dimensional rotation parallel institution (US Patent, Tsai, PatentNember:5656905,1997).Its main feature is that forward kinematics solution is 8 times; Position and direction decoupling zero; Compare with Stewart mechanism, working space is bigger; Form parallel institution by revolute pair fully, compare easy manufacturing with spherical pair.The imaginary axis coordinate measuring machine of parallel-connection structure, it also is the heavy people's progress of on the scientific measurement instrument in recent years, compare with the measuring machine of traditional cascaded structure, the parallel-connection structure coordinate measuring machine has uniquenesses such as structural rigidity is big, movement velocity is high, error does not superpose, and performances such as certainty of measurement and measurement efficient are greatly improved.At present, existing ripe relatively parallel coordinate measuring machine structure has 6-SPS 6-RSS and 3-RPS etc.For 6-SPS and 6-RSS mechanism, because its movable platform has 6 spatial degrees of freedom with respect to based platform, thereby the spatial pose of its end effector is more flexible, but because the structure of this mechanism is relatively complicated, space constraint is less, causes the difficulty of finding the solution of its end effector.
Owing to all contain more spherical pair in above-mentioned several structures, so its manufacturing and assembling are all complicated.
In sum, the development of imaginary axis Digit Control Machine Tool and coordinate measuring machine, robot and practicability need create the new architecture that is better than existing mechanism.
Summary of the invention
The utility model purpose is the shortcoming that will overcome prior art, and a kind of new six-degree-of-freedom parallel connection mechanism is provided, and is characterized in:
1. mechanism's moving platform can be realized six degree of freedom (three translations and three rotations) motion output.
2. the motion input-output has partly decoupled, can simplify the control problem of virtual-shaft machine tool and robot system; Also can reduce widely in the difficulty of setting up aspects such as imaginary axis measuring machine measurement model in parallel, measurement update and compensation model.
3. all CD-ROM drive motors all on silent flatform, can reduce the motion of mechanism load, improve dynamic performance.
The technical scheme that the utility model adopted is: accompanying drawing 1 is the structural representation of six-degree-of-freedom parallel connection mechanism of the present utility model, and it is by last moving platform 0, following silent flatform 1 and connect the identical combination chain of two structures of these two platforms simple open chain identical with two structures and form.Combination chain is the closed circuit structure in a space, by two ball pair-ball pair-rotation paratype side chain S that comprise two members 2,3 or 4,5 respectively
8-S
9-R
13Or S
8-S
10-R
12Form two secondary S of circumsphere of two side chains
8After the movable connection of the centre of sphere, constitute compound spherical joint S with last moving platform 0 again altogether
8Connect, and its external revolute pair R
13, R
12Respectively with following silent flatform 1 mechanical connection; And simple open chain passes through secondary S of ball by two members 6,7
2Connect to form, and member 6 and last moving platform 0 secondary S of usefulness ball
1Mechanical connection, member 7 and following silent flatform 1 revolute pair R
11Mechanical attachment.Therefore, there are two to connect spherical pair S on the last moving platform 0
1, S
3And two secondary S of composite sphere
8, S
5, have six to connect revolute pair R on the following silent flatform 1
13, R
16, R
15, R
14, R
11, R
12
In a word, the utility model helps its exploitation and practicability for virtual-axis nc machine tool, parallel coordinate measuring machine and robot, amusement platform etc. provides the new architecture with These characteristics.
Description of drawings
Accompanying drawing 1 is the structural representation of six-degree-of-freedom parallel connection mechanism of the present utility model.
The specific embodiment
Parallel institution shown in the accompanying drawing 1 can be an embodiment of the present utility model, and it is by last moving platform 0, following silent flatform 1 and connect the identical combination chain of two structures of these two platforms simple open chain identical with two structures and form.Combination chain is the closed circuit structure in a space, by two ball pair-ball pair-rotation paratype side chain S that comprise two members 2,3 or 4,5 respectively
8-S
9-R
13Or S
8-S
10-R
12Form two secondary S of circumsphere of two side chains
8After the movable connection of the centre of sphere, constitute compound spherical joint S with last moving platform 0 again altogether
8Connect, and its external revolute pair R
13, R
12Respectively with following silent flatform 1 mechanical connection; And simple open chain passes through secondary S of ball by two members 6,7
2Connect to form, and member 6 and last moving platform 0 secondary S of usefulness ball
1Mechanical connection, member 7 and following silent flatform 1 revolute pair R
11Mechanical attachment.Therefore, there are two to connect spherical pair S on the last moving platform 0
1, S
3And two secondary S of composite sphere
8, S
5, have six to connect revolute pair R on the following silent flatform 1
13, R
16, R
15, R
14, R
11, R
12, but six revolute pairs on the silent flatform can replace with six moving sets.
When all bar linkage structure dimensional parameters and distributing position one timing on last moving platform 0, following silent flatform 1 thereof, six driving joint R on the silent flatform 1 under the control
13, R
16, R
15, R
14, R
11, R
12Motion, just can control general position and the attitude of moving platform 0 in the space, realize the output of D translation and Three dimensional rotation.The structural design of this kind parallel institution and drive control etc. all routinely mechanical ﹠ electrical technology carry out design and installation, as mounting cutter on moving platform or probe, this parallel institution promptly can be as the executing agency of the virtual-axis nc machine tool and the imaginary axis parallel coordinate measuring machine of parallel-connection structure.
Claims (2)
1. as the six-degree-of-freedom parallel connection mechanism of mechanical measuring machine and virtual-axis nc machine tool, go up the identical combination chain that contains the closed circuit structure in space and two simple open chains that structure is identical of two structures of moving platform, following silent flatform by last moving platform, following silent flatform and connection; It is characterized in that the closed circuit structure in space that combination chain comprises is made up of two ball pair-ball pair-rotation paratype side chains that comprise two members respectively, article two, the secondary centre of sphere altogether of two circumspheres of side chain is after movable the connection, constitute compound spherical joint with last moving platform again and be connected, its external revolute pair respectively with following silent flatform mechanical connection; And simple open chain is connected to form by-ball pair by two members, one component and following silent flatform revolute pair mechanical connection, and another member and last moving platform are also used ball pair mechanical connection.
2. according to the described six-degree-of-freedom parallel connection mechanism of claim 1, six revolute pairs under it is characterized in that on the silent flatform can replace with six moving sets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200750253U CN201073733Y (en) | 2007-09-26 | 2007-09-26 | 6-DOF parallel mechanism used for mechanic measuring machine and virtual axis NC machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200750253U CN201073733Y (en) | 2007-09-26 | 2007-09-26 | 6-DOF parallel mechanism used for mechanic measuring machine and virtual axis NC machine tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201073733Y true CN201073733Y (en) | 2008-06-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200750253U Expired - Fee Related CN201073733Y (en) | 2007-09-26 | 2007-09-26 | 6-DOF parallel mechanism used for mechanic measuring machine and virtual axis NC machine tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201073733Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990653A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two asymmetric closed-loop sub-chains |
| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
-
2007
- 2007-09-26 CN CNU2007200750253U patent/CN201073733Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990653A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two asymmetric closed-loop sub-chains |
| CN105180831A (en) * | 2015-09-29 | 2015-12-23 | 湖南科技大学 | Four-degree of freedom 3D scanning frame |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080618 Termination date: 20100926 |