CN206343904U - A kind of three translation gantry parallel machines of additional redundancy linear slide - Google Patents
A kind of three translation gantry parallel machines of additional redundancy linear slide Download PDFInfo
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- CN206343904U CN206343904U CN201621426969.6U CN201621426969U CN206343904U CN 206343904 U CN206343904 U CN 206343904U CN 201621426969 U CN201621426969 U CN 201621426969U CN 206343904 U CN206343904 U CN 206343904U
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- chain group
- group
- footstock
- lateral column
- moving platform
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Abstract
The utility model discloses a kind of three translation gantry parallel machines of additional redundancy linear slide, including portal frame, straight line module, first chain group, second chain group, the 3rd chain group, moving platform, workbench；Portal frame includes the first lateral column, the second lateral column and footstock, and straight line module includes guide rail and sliding block；Portal frame and workbench lower end are fixed with foundation bolt, straight line module is arranged on footstock, branch chain group one, branch chain group two, branch chain group three are made up of three groups of structure identical expansion links, first chain group, one end of the 3rd chain group are installed on footstock, the other end is connected with moving platform, one end of second chain group is arranged on straight line module, and the other end is connected with moving platform, constitutes Spatial Parallel closed loop configuration；In the presence of the flexible and straight line module redundant drive of three branch chain groups, form a kind of compact conformation, move gantry parallel machine flexible, that Singularity can be evaded, possess big working space, be particularly suitable for the processing operation of large-scale workpiece.
Description
Technical field
The utility model belongs to numerical control manufacturing equipment field, three translation gantry of particularly a kind of additional redundancy linear slide
Parallel machine.
Background technology
In grand manufacture field, the class lathe of traditional open side type boring and milling machine, large-sized gantry milling machine etc. one is due to dynamic property
Difference, precision are low, fuselage is huge and high cost problem, has been difficult to meet the processing request of large-scale workpiece now；Parallel machine
As a kind of new concept lathe, there is its unique advantage compared with traditional numeric-control machine.
Chinese patent CN105818137A discloses a kind of parallel institution with three-dimensional translating, including moving platform, allocates
Platform and three groups of side chains, the mechanism synchronously drive one group of scalable side chain using three servomotors, but the mechanism working space is small,
Be not suitable for the situation of a wide range of operation；Chinese patent CN103240729A discloses a kind of space three-translational parallel manipulator, bag
The three branch chain groups for including fixed frame, moving platform and being arranged symmetrically between fixed frame and moving platform, every group of side chain is divided into
Nearly hack lever and remote hack lever, form Space Axisymmetric multi-link structure, are limited in that rigidity is poor, working space is smaller；Germany
The Pegasus type timber machining centers that Reichenbacher companies release, universal hinge is equipped with using three groups of fix bar length and two ends
Leverage, is connected, operation is limited to long and narrow working space by the leverage of chain with three pieces of moving slide boards and moving platform respectively by hinge
And rigidity is low, machining accuracy can not meet the requirement to the big work pieces process of metal；Stuttgart University, Germany
S.Johannesson proposed in 2003 and the University of Queensland with Australia, the A Gede institutes of Norway and Sweden
A kind of entitled Gantry-Tau of ABB AB's joint study Three Degree Of Freedom large-working space parallel structure, the mechanism uses fixed pole
The layout of long plus three slides, first slide has one group of parallel bar, and second slide installs three bars and constitute two parallel four
A rod member is filled on side shape, the 3rd slide, three horizontal guide rails are fixed in frame, three slides are controlled by digital control system
Motion makes moving platform be transformed into rightward space from leftward space, so as to there is larger working space than other parallel institutions.But
The mechanism has two：One, it is desirable to which the length of guide rail must just be increased by obtaining bigger working space, and the mechanism
Horizontal working range is smaller, and two, the control algolithm complex that moving platform is switched in left and right space, and the path that can pass through has
Limit.The heavy axle series-parallel machine tools of planer-type five of XNZ2430 of company's R ＆ D Cooperation such as Tsing-Hua University and neat two lathe, east of a river lathe,
The transverse direction of traditional Longmen machine tool and vertical straight line module are mainly replaced with into parallel-connection structure, the lathe is local parallel mechanism
And the combination of traditional machine tool structure, but this structure can not increase the working space of lathe, therefore in order to increase the work of lathe
Make space, just have to increase the size of platen, this overall dimensions for allowing for lathe is greatly increased.
The content of the invention
The technical problem that the utility model is solved is to provide a kind of flexible motion, compact conformation, can evade Singularity
Shape, the parallel machine for possessing big working space, are particularly suitable for the processing operation of large-scale workpiece.
A kind of three translation gantry parallel machines of additional redundancy linear slide, including portal frame, straight line module, the first side chain
Group, second chain group, the 3rd chain group, moving platform, workbench；The portal frame includes the first lateral column, the second lateral column and footstock；
First lateral column, the second lateral column are arranged on the two ends of workbench, and footstock is arranged on the top of the first lateral column and the second lateral column；Institute
Stating straight line module includes guide rail and sliding block, and straight line module is arranged on footstock, and sliding block is slided along guide rail；
First chain group, one end of the 3rd chain group are installed on footstock, and the other end is connected with moving platform；Institute
The one end for stating second chain group is arranged on straight line module, and the other end is connected with moving platform, constitutes Spatial Parallel closed loop configuration.
The utility model compared with prior art, its remarkable advantage：
(1) being designed with beneficial to the rigidity and precision for improving parallel machine using closed portal frame.
(2) minority carrier generation lifetime is simple and compact for structure, is easy to assembling and main screw lift is light, it is easy to control.
(3) it is theoretical according to the description of the pose of parallel machine and space coordinate transformation, because this lathe spatially only has three
The free degree of individual translation, no rotational freedom, therefore its attitude matrix is unit matrix, forward kinematics solution and anti-solution all compare appearance
Easily, thus the machine tool numerical control system control algolithm it is relatively easy.
(4) using the straight line module of additional redundancy, the range of movement of moving platform is improved, and portal frame and workbench are used
Fixed form, and then reduce lathe space-consuming；
(5) being designed with beneficial to Singularity is evaded for additional redundancy linear slide is taken, the motility of parallel machine is improved
Energy and rigidity, and be conducive to increasing the working space of parallel machine, the amplification at double of working space is realized, be disclosure satisfy that to big
The requirement of work pieces process.
Brief description of the drawings
Fig. 1 is the utility model lathe dimensional structure diagram.
Fig. 2 is the configuration schematic diagram of lathe general structure of the present utility model.
Fig. 3 is the utility model lathe schematic diagram of mechanism.
Fig. 4 is the utility model moving platform dimensional structure diagram.
Fig. 5 is the secondary formula spherical hinge structure schematic diagram of the utility model Hooke's hinge additional rotation.
Fig. 6 is the secondary formula ball-and-socket hinge device sketch of the utility model Hooke's hinge additional rotation.
1. portal frame, 2. straight line modules, 3. first chain groups, 4. second chain groups, 5. the 3rd chain groups, 6. moving platforms
The lateral columns of 1-1. first, 1-2. footstocks, the lateral columns of 1-3. second, 1-4. workbench, 2-1. guide rails, 2-2. sliding blocks
6-1. first axles hole, 6-2. second hinges hole, 6-3. third hinges hole, the pans of 6-4. the 4th, 6-5. the 5th
Pan, the pans of 6-6. the 6th
Embodiment
The utility model is described further with reference to Fig. 1 to Fig. 6：
With reference to Fig. 1, a kind of three translation gantry parallel machines of additional redundancy linear slide in the utility model, including dragon
Door frame 1, straight line module 2, first chain group 3, second chain group 4, the 3rd chain group 5, moving platform 6, workbench 1-4；
With reference to Fig. 2, the portal frame 1 includes the first lateral column 1-1, the second lateral column 1-3 and footstock 1-2；First lateral column,
Second lateral column is arranged on the two ends of workbench, and footstock is arranged on the top of the first lateral column and the second lateral column；
As preferred embodiment, the first lateral column 1-1 is identical with the second lateral column 1-3 structures, first lateral column
1-1 is cube frame structure, and centre is provided with slotted eye, and to mitigate overall weight, bottom is provided with fixed mounting seat；The footstock
1-2 is C-shaped circular arc frame structure, and domes are monolithically fabricated with the first lateral column 1-1, the second lateral column 1-3 and footstock 1-2；
The workbench and the first lateral column 1-1 and the second lateral column 1-3 lower ends are connected；
The straight line module 2 is the prismatic pair of single-degree-of-freedom, including guide rail 2-1 and sliding block 2-2；The straight line module 2 is pacified
Mounted in footstock 1-2 Inner arc top middle portions；Sliding block 2-2 is driven along guide rail 2-1 parallel to workbench 1-4 levels by servomotor
Slide；Pans of the sliding block 2-2 provided with two connections, first chain group 3；Straight line module 2 is driven using servomotor,
So as to provide redundancy linear slide, the redundancy linear slide, which rises, evades Singularity, increases the effect of lathe working space；
As preferred embodiment, with reference to Fig. 3, Fig. 5, Fig. 6, first chain group 3, second chain group 4, the 3rd
The structure of chain group 5 is identical, and every group of branch chain group is constituted by two structure identical expansion links；The two ends of expansion link are ball pivot；Stretch
The ball-screw-transmission that the inside of contracting bar is used, two expansion links of every group of side chain remain parallel and isometric in lathe,
Every group of side chain synchronously drives two expansion links using a servomotor；
As the further improvement to above-mentioned embodiment, the ball pivot is a kind of improved Hooke's hinge, by
Increase a revolute pair on the base of traditional Hooke's hinge to replace common ball pivot, reachable -70 ° -70 ° of slewing area.
In some embodiments, every group of side chain synchronously drives two expansion links using two servomotors.
One end of two expansion links of first chain group 3 is connected by being hinged with footstock 1-2, and the other end leads to
Cross to be hinged and be connected with moving platform 6；One end of two expansion links of second chain group 4 is by being hinged and straight line module
2 sliding block 2-2 is connected, and the other end is connected by being hinged with moving platform 6；Two expansion links of the 3rd chain group 5
One end is connected by being hinged with footstock 1-2, and the other end is connected by being hinged with moving platform 6, so as to constitute space simultaneously
Join closed loop configuration；First chain group 3 and the 3rd chain group 5 are symmetrically installed on footstock 1-2 Inner arcs bottom two ends；
As preferred embodiment, with reference to Fig. 4, the moving platform 6 is pentahedron cavity body structure, moving platform 6 and first
The end that is connected with the 3rd chain group 5 of branch chain group 3 is quadrilateral structure；Moving platform 6 mutually connects to be provided with first chain group 3 to be used for
Connect the first axle hole 6-1 and second hinge hole 6-2 of first chain group, 3 two expansion links, the hole heart line and footstock of holes
The hole heart line of two pans of first chain group 3 of connection is parallel on 1-2 and pitch-row is equal；
Moving platform 6 is provided with the 3rd connected end of chain group 5 is used for the 5th hinge for being connected 5 two expansion links of the 3rd chain group
Chain hole 6-5 and the 6th pan 6-6, the hole heart line of holes is connected the hole of two pans of the 3rd chain group 5 with footstock 1-2
Heart line is parallel and pitch-row is equal；
Moving platform 6 intersects with first chain group and the 3rd two connected end faces of chain group 5, and on two end faces respectively
Provided with a boss face being connected with second chain group 4, two boss faces are respectively equipped with third hinge hole 6- in same plane
3 and the 4th pan 6-4, the hole heart line of holes is parallel with the hole heart line of two pans on sliding block 2-2 and pitch-row phase
Deng；The relative other end parallel with boss face is rectangular planes structure, and centre is provided with the mounting hole for being used for installing electro spindle；
Two other end face of moving platform 6 is isosceles trapezoidal structure, is respectively intersected with boss face and rectangle structure；
The first lateral column 1-1, the second lateral column 1-3, workbench 1-4 are equipped with anchor bolt installation hole, when installing lathe,
Lathe is fixed by foundation bolt, to increase the resistance to overturning of lathe；And portal frame 1 and workbench 1-4 will not be as traditional machine
Bed has large-scale relative motion like that, has saved the floor space of lathe, has also mitigated the overall weight of lathe.
As preferred embodiment, footstock 1-2 Inner arcs bottom connects the two of first chain group 3 and the 3rd chain group 5
End is plane, and the angle of two planes and plane where guide rail is 120 °；Moving platform 6 and first side chain of chain group 3 and the 3rd
Two end faces that group 5 is connected are intersecting and angle is 60 °；Above-mentioned angle is being met on the premise of three branch chain groups freely rotate,
Appropriate adjustment can be done；
Because parallel machine moving platform 6 is without attitudes vibration in the utility model, lathe spatially only has three translations
The free degree, no rotational freedom, therefore its attitude matrix is unit matrix, forward kinematics solution and anti-solution are all easier, therefore should
The control algolithm of machine tool numerical control system is relatively easy.
Claims (9)
1. three translation gantry parallel machines of a kind of additional redundancy linear slide, it is characterised in that including portal frame (1), straight line mould
Group (2), first chain group (3), second chain group (4), the 3rd chain group (5), moving platform (6) workbench (1-4)；Described gantry
Frame (1) includes the first lateral column (1-1), the second lateral column (1-3) and footstock (1-2)；First lateral column (1-1), the second lateral column (1-
3) two ends of workbench (1-4) are arranged on, footstock (1-2) is arranged on the top of the first lateral column (1-1) and the second lateral column (1-3)；
The straight line module (2) includes guide rail (2-1) and sliding block (2-2), and straight line module (2) is arranged on footstock (1-2), sliding block (2-
2) slided along guide rail (2-1)；
First chain group (3), one end of the 3rd chain group (5) are installed on footstock (1-2), and the other end is and moving platform
(6) it is connected；One end of second chain group (4) is arranged on straight line module (2), and the other end is connected with moving platform (6), composition
Spatial Parallel closed loop configuration.
2. a kind of three translation gantry parallel machines of additional redundancy linear slide as claimed in claim 1, it is characterised in that institute
State the first lateral column (1-1) identical with the second lateral column (1-3) structure, first lateral column (1-1) is cube frame structure；It is described
Footstock (1-2) is C-shaped circular arc frame structure, and the first lateral column (1-1), the second lateral column (1-3) and footstock (1-2) are monolithically fabricated arch
Structure.
3. a kind of three translation gantry parallel machines of additional redundancy linear slide as claimed in claim 1, it is characterised in that institute
The prismatic pair that straight line module (2) is single-degree-of-freedom is stated, sliding block (2-2) is driven along guide rail (2-1) parallel to work by servomotor
Make the slip of platform (1-4) level.
4. a kind of three translation gantry parallel machines of additional redundancy linear slide as claimed in claim 1, it is characterised in that institute
State first chain group (3), second chain group (4), the 3rd chain group (5) structure identical, every group of branch chain group is by two structure phases
Same expansion link composition；The two ends of expansion link are connected with ball pivot, and the inside of expansion link uses ball-screw-transmission, every group of side chain
Two expansion links remain parallel and isometric in lathe, synchronously driving two is stretched using a servomotor for every group of side chain
Contracting bar.
5. a kind of three translation gantry parallel machines of additional redundancy linear slide as claimed in claim 4, it is characterised in that institute
It is a kind of improved Hooke's hinge to state ball pivot, by increasing a revolute pair on the base of traditional Hooke's hinge come instead of common
Ball pivot, reachable -70 ° -70 ° of slewing area.
6. a kind of three translation gantry parallel machines of additional redundancy linear slide as described in claim 1 or 4, it is characterised in that
Every group of side chain synchronously drives two expansion links using two servomotors.
7. a kind of three translation gantry parallel machines of additional redundancy linear slide as claimed in claim 1, it is characterised in that institute
Moving platform (6) is stated for pentahedron cavity body structure, on moving platform (6), is connected with first chain group (3) and the 3rd chain group (5)
Two end faces intersect, and be respectively equipped with two end faces a boss face being connected with second chain group (4), two boss
Face is on coplanar；The other end end face parallel with boss face is provided with the mounting hole of installment work device.
8. a kind of three translation gantry parallel machines of additional redundancy linear slide as described in claim 1 or 7, it is characterised in that
The moving platform (6) is provided with first chain group (3) connected end is used for the first hinge for being connected first chain group, 3 two expansion links
Chain hole (6-1) and second hinge hole (6-2), the hole heart line of holes are parallel with the hole heart line of the pan on footstock (1-2)
And pitch-row is equal；Moving platform (6) is provided with the 3rd chain group (5) connected end to be stretched for being connected the 3rd chain group (5) two
5th pan (6-5) of bar and the 6th pan (6-6), the hole heart line of holes are connected the 3rd side chain with footstock (1-2)
The hole heart line of two pans of group (5) is parallel and pitch-row is equal；Two be connected with (4) two expansion links of second chain group are convex
Table top is respectively equipped with third hinge hole (6-3) and the 4th pan (6-4), hole heart line and two on sliding block (2-2) of holes
The holes hole heart line of individual pan is parallel and pitch-row is equal.
9. a kind of three translation gantry parallel machines of additional redundancy linear slide as claimed in claim 1, it is characterised in that institute
It is plane to state footstock (1-2) Inner arc bottom and connect the two ends of first chain group (3) and the 3rd chain group (5), two planes with
The angle of plane is 120 ° where guide rail；Moving platform (6) be connected with first chain group (3) and the 3rd chain group (5) two
Individual end face is intersecting and angle is 60 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621426969.6U CN206343904U (en) | 2016-12-23 | 2016-12-23 | A kind of three translation gantry parallel machines of additional redundancy linear slide |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621426969.6U CN206343904U (en) | 2016-12-23 | 2016-12-23 | A kind of three translation gantry parallel machines of additional redundancy linear slide |
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| Publication Number | Publication Date |
|---|---|
| CN206343904U true CN206343904U (en) | 2017-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621426969.6U Expired - Fee Related CN206343904U (en) | 2016-12-23 | 2016-12-23 | A kind of three translation gantry parallel machines of additional redundancy linear slide |
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| Country | Link |
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| CN (1) | CN206343904U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106736613A (en) * | 2016-12-23 | 2017-05-31 | 南京理工大学 | A kind of three translation gantry parallel machines of additional redundancy linear slide |
| WO2019214205A1 (en) * | 2018-05-11 | 2019-11-14 | 清华大学 | Overhead machining device based on portable five-degree-of-freedom full parallel connection module |
-
2016
- 2016-12-23 CN CN201621426969.6U patent/CN206343904U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106736613A (en) * | 2016-12-23 | 2017-05-31 | 南京理工大学 | A kind of three translation gantry parallel machines of additional redundancy linear slide |
| CN106736613B (en) * | 2016-12-23 | 2018-11-13 | 南京理工大学 | A kind of three translation gantry parallel machines of additional redundancy linear slide |
| WO2019214205A1 (en) * | 2018-05-11 | 2019-11-14 | 清华大学 | Overhead machining device based on portable five-degree-of-freedom full parallel connection module |
| US11583966B2 (en) | 2018-05-11 | 2023-02-21 | Tsinghua University | Overhead machining device based on portable five-degree-of-freedom full parallel module |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170721 Termination date: 20181223 |
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| CF01 | Termination of patent right due to non-payment of annual fee |