CN209614906U - Series parallel type six degree of freedom full decoupling flexible jig - Google Patents

Abstract

The utility model discloses a kind of series parallel type six degree of freedom full decoupling flexible jigs, including the upper mounting plate for placing work piece, pedestal, the main trunk body being rotatably arranged on pedestal, the secondary trunk body being movably set on main trunk body, the moving arm being movably set on secondary trunk body, the rotating arm being rotatably arranged on moving arm, it is set to the support component of the posture on rotating arm and for adjusting the upper mounting plate, it is set on main trunk body and for controlling secondary trunk body along the lower driving device that Z-direction is moved and the upper driving device for being set on secondary trunk body and being moved for controlling moving arm along Y-direction.The series parallel type six degree of freedom full decoupling flexible jig of the utility model, the position adjustment amount and pose adjustment amount of upper mounting plate are independent of one another, no coupled relation, and clamp structure is simple, and revolution inertia is small.

Description

Series parallel type six degree of freedom full decoupling flexible jig

Technical field

The utility model relates to the flexible jig system of series-parallel structure matched with lathe or automatic production line, tools It says to body, the utility model relates to a kind of series parallel type six degree of freedom full decoupling flexible jigs.

Background technique

At present in flexible jig design matched with lathe or automatic production line, it is not fully solved workpiece to be machined still The accurate adjustment problem of 3 location parameter and 3 attitude parameters (that is, whole pose parameters) in space.Such as, Publication No. The patent document of CN201036834Y discloses a kind of " adjustable welding fixture of three-dimension ", the mounting bracket being made up of more piece chunking Mutually perpendicular X, Y, Z-direction independent adjusting mechanism are formed, ensure that the anchor point of fixture and clamping face exist in design structure X, corresponding position adjustment can be done on tri- directions Y, Z.For another example, the patent document of Publication No. CN201960314U discloses A kind of " flexible three-dimensional adjustable support seat for vehicle body welding fixture " is, it can be achieved that the adjustment of X, Y, Z tri- direction straight line and two directions rotate tune It is whole.And the patent document of Publication No. CN102794662B discloses a kind of " six-degree of freedom position and attitude full decoupling adjustable clamp Tool ", although the linear movement along X, Y, Z three axes direction and the rotation adjustment around three reference axis can be realized, because For 6 sets can sub-system use cascaded structure, when using 6 motors realize its position and attitude automatic adjustment when, then it is past from pedestal On, the inertia closer to the end device is bigger, if mating with the flexible automation production line of fast productive temp, series-mode frame Inertia impact certainly will will affect its position and attitude Adjustment precision, aggravation work noise, it is necessary to pass through structure improve and innovation Design solves this drawback.

Utility model content

The utility model aims to solve at least one of the technical problems existing in the prior art.For this purpose, the utility model mentions For a kind of series parallel type six degree of freedom full decoupling flexible jig, it is therefore an objective to reduce revolution inertia.

To achieve the goals above, the technical solution that the utility model is taken are as follows: series parallel type six degree of freedom full decoupling is adjustable Fixture, including the upper mounting plate, pedestal, the main trunk body being rotatably arranged on pedestal, removable for placing work piece The secondary trunk body being set on main trunk body, the moving arm being movably set on secondary trunk body, be rotatably arranged on The support component of rotating arm, the posture for being set on rotating arm and being used to adjust the upper mounting plate on moving arm is set to master On trunk body and it is used to control secondary trunk body along the lower driving device that Z-direction is moved and is set on secondary trunk body and is used to control The upper driving device that moving arm processed is moved along Y-direction.

The upper driving device includes being rotatably arranged on the secondary trunk body and constituting spiral with the moving arm The upper screw rod of transmission and the upper driving motor for being set on secondary trunk body and being connect with upper screw rod, axis and the Y-direction phase of upper screw rod In parallel, upper driving motor and the rotating arm are located at the two sides of the rotation centerline of the main trunk body.

The lower driving device includes being rotatably arranged on the main trunk body and constituting spiral shell with the secondary trunk body The lower driving motor for revolving the lower screw rod of transmission and being set on main trunk body and being connect with lower screw rod, the axis and Z-direction of lower screw rod It is parallel.

The main trunk body includes main revolving bed, is set on main revolving bed and play the guiding role to the secondary trunk body Main guide holder and the waist joint axis being set on main revolving bed, the pedestal have the axis hole for allowing waist joint axis to be inserted into.

The pair that the pair trunk body includes secondary Mobile base, is set on secondary Mobile base and play the guiding role to the moving arm Guide holder is set on secondary Mobile base and for providing the top chock of support to the upper driving device, being set to secondary movement It the convex platform that is connect on seat and with the lower driving device and is set on convex platform and is arranged on the insertion main guide holder Sliding block in gliding groove.

The gliding groove is dovetail groove, and the sliding block is swallowtail-shaped structure.

The pair guide holder and the top chock are located at the opposite end of the secondary Mobile base, the main trunk body Rotation centerline be located between secondary guide holder and top chock.

The moving arm includes the link block connecting with the upper driving device, is set on link block and is inserted into the pair The top shoe in upper hopper chute being arranged on guide holder and the support being set on top shoe, the rotating arm have on insertion support Shaft in the axis hole of setting.

The support component includes the support rod, first flexible for being set on the rotating arm and connecting with the upper mounting plate Part and the second extensible member, the adjustable in length of the first extensible member and the second extensible member, the first extensible member and support rod are in and the On the parallel same straight line in one direction, the second extensible member and support rod are on the same straight line parallel with second direction.

First extensible member and the second extensible member are hydraulic cylinder or cylinder.

The series parallel type six degree of freedom full decoupling flexible jig of the utility model, the position adjustment amount and pose adjustment of upper mounting plate Amount is independent of one another, no coupled relation, and clamp structure is simple, and revolution inertia is small.

Detailed description of the invention

This specification includes the following drawings, and shown content is respectively:

Fig. 1 is the structural schematic diagram of pedestal；

Fig. 2 is the structural schematic diagram of main trunk body；

Fig. 3 is the structural schematic diagram of upper screw rod and lower screw rod；

Fig. 4 is the structural schematic diagram of secondary trunk body；

Fig. 5 is the structural schematic diagram of moving arm；

Fig. 6 is the structural schematic diagram of rotating arm；

Fig. 7 is the structural schematic diagram of support rod；

Fig. 8 is the structural schematic diagram of the first extensible member and the second extensible member；

Fig. 9 is the structural schematic diagram of upper mounting plate；

Figure 10 is the structural schematic diagram of the utility model series parallel type six degree of freedom full decoupling flexible jig；

In the figure, it is marked as 1, pedestal；1A, axis hole；1B, through-hole；

2, main trunk body；2A, waist joint axis；2B, blind hole；2C, main guide holder；2D, gliding groove；2E, step；2F, Semi-cylindrical bearing saddle bore；2G, main revolving bed；

3, lower screw rod；3A, screw thread；3B, cylindrical step axis；

4, secondary trunk body；4A, convex platform；4B, threaded hole；4C, sliding block；4D, secondary guide holder；4E, upper hopper chute；4F, on Bearing block；4G, semi-cylindrical bearing saddle bore；4H, secondary Mobile base；

5, moving arm；5A, rectangle boss；5B, support；5C, axis hole；5D, connecting plate；5E, threaded hole；5F, top shoe；

6, upper screw rod；6A, screw thread；6B, cylindrical step axis；

7, rotating arm；7A, shaft；7B, the first lower ball hinge；7C, the second lower ball hinge；7D, mounting base；7E, spheric seat Hole；7F, spherical bore；7G, blind cylindrical hole；

8, support rod；8A, bulb；

9, the first extensible member；9A, the first cylinder barrel；9B, First piston bar；9C, the first lower bulb；9D, bulb on first； 9E, first piston；

10, the second extensible member；10A, the second cylinder barrel；10B, second piston bar；10C, the second lower bulb；10D, ball on second Head；10E, second piston；

11, upper mounting plate；11A, ball hinge on first；Ball hinge on 11B, third；11C, ball hinge on second；11D, spherical shape Bore；11E, spherical bore；11F, spherical bore.

Specific embodiment

Below against attached drawing, by the description of the embodiment, making to specific embodiment of the present utility model further detailed Thin explanation, it is therefore an objective to help those skilled in the art to the design of the utility model, technical solution have it is more complete, accurate and Deep understanding, and facilitate its implementation.

It should be noted that " first ", " second " and " third " does not represent knot in embodiment disclosed below Structure and/or absolute differentiation relationship functionally, do not represent the successive sequence that executes yet, and merely for convenience of description.

As shown in Figures 1 to 10, the utility model provides a kind of series parallel type six degree of freedom full decoupling flexible jig, including For placing the upper mounting plate 11 of work piece, pedestal 1, the main trunk body 2 being rotatably arranged on pedestal 1, movably setting The secondary trunk body 4 that is placed on main trunk body 2, is rotatably arranged on the moving arm 5 being movably set on secondary trunk body 4 The support component of rotating arm 7, the posture for being set on rotating arm 7 and being used to adjust upper mounting plate 11 on moving arm 5 is set to master On trunk body 2 and it is used to control secondary trunk body 4 along the lower driving device that Z-direction is moved and is set on secondary trunk body 4 and uses In the upper driving device that control moving arm 5 is moved along Y-direction.

Specifically, as shown in Figures 1 to 10, Z-direction is vertical direction, X to Y-direction be horizontal direction and X to Y-direction phase Vertically.Pedestal 1 is located at the lower section of main trunk body 2, and main trunk body 2 is located at the lower section of secondary trunk body 4, and main trunk body 2 is to set vertically Set, secondary trunk body 4 be it is horizontally disposed, secondary trunk body 4 has the length direction of certain length and secondary trunk body 4 equal with Y-direction Row, rotating arm 7 are located at the top of secondary trunk body 4, and rotating arm 7 is that horizontally disposed and rotating arm 7 rotation centerline is equal with Z-direction Row, upper mounting plate 11 are located at the top of rotating arm 7, and support component provides a supporting role upper mounting plate 11, and support component is located at upper flat Between platform 11 and rotating arm 7 and support component is connect with upper mounting plate 11 and rotating arm 7, support component for adjust upper mounting plate 11 with X to and/or Y-direction between angle size, realize the adjusting of 11 posture of upper mounting plate, so make fixture can be realized be placed on it is flat The adjusting of position and posture on platform 11.

As shown in Figure 1, Figure 2 and shown in Figure 10, main trunk body 2 is to be rotatably arranged on pedestal 1, the rotation of main trunk body 2 Center line is parallel with Z-direction, and pedestal 1, which is equipped with, provides the first motor (motor for the driving force for rotating it to main trunk body 2 Model TSB series of servo motor), the motor shaft of first motor is connect with main trunk body 2.Main trunk body 2 includes leading back Swivel base 2G, the main guide holder 2C for being set on main revolving bed 2G and playing the guiding role to secondary trunk body 4 and it is set to main revolving bed Waist joint axis 2A on 2G, pedestal 1 have the axis hole 1A for allowing waist joint axis 2A to be inserted into.Waist joint axis 2A is cylindrical body, waist joint The axis (namely rotation centerline of main trunk body 2) of axis 2A is parallel with Z-direction.Waist joint axis 2A is located under main revolving bed 2G Side, the upper end of waist joint axis 2A is to be fixedly connected at the center of main revolving bed 2G with main revolving bed 2G.Main revolving bed 2G is circle Cylinder and main revolving bed 2G and waist joint axis 2A are coaxial arrangement, and main guide holder 2C is fixedly connected with main revolving bed 2G, dominate to Seat 2C is set on the periphery of main revolving bed 2G and main guide holder 2C is stretched out towards the outside of main revolving bed 2G, main guide holder 2C Positioned at the lower section of secondary trunk body 4, lower driving device is connect with main guide holder 2C and secondary trunk body 4.

As shown in Figure 1, pedestal 1 is truncated cone-shaped structure, an axis hole 1A is provided with along rotary table center line down from its upper surface With a through-hole 1B, through-hole 1B and axis hole 1A are circular hole and diameter of the diameter less than axis hole 1A of through-hole 1B, through-hole 1B and axis Hole 1A is the lower section that coaxial arrangement and through-hole 1B are located at axis hole 1A, and the motor shaft of first motor is inserted into through-hole 1B.When assembly, waist Joint shaft 2A is fitted into axis hole 1A, and bearing (not shown) is arranged therebetween, makes main trunk body 2 can be relative to pedestal 1 rotates around waist joint axis 2A, that is, turns about the Z axis.

As shown in Figure 10, upper driving device includes being rotatably arranged on secondary trunk body 4 and constituting spiral with moving arm 5 The upper screw rod 6 of transmission and upper driving motor (the model TSB of the motor for being set on secondary trunk body 4 and being connect with upper screw rod 6 Series of servo motor), the axis of upper screw rod 6 is parallel with Y-direction, and upper driving motor and rotating arm 7 are located at main trunk body 2 Rotation centerline two sides, the rotation centerline of main trunk body 2 is between upper driving motor and rotating arm 7, upper driving electricity Machine and rotating arm 7 are located at the both ends on the length direction of secondary trunk body 4.Upper screw rod 6 is horizontally disposed, upper screw rod 6 and shifting Swing arm 5 is to be threadedly coupled, and the periphery of upper screw rod 6 is provided with screw thread 6A, one end of upper screw rod 6 and the motor shaft of upper driving motor It is fixedly connected, the other end of upper screw rod 6 passes through the threaded hole being arranged on moving arm 5.After upper driving motor operating, it can drive Screw rod 6 is rotated around its axis, and upper screw rod 6 drives moving arm 5 to be moved along Y-direction, realizes position of the upper mounting plate 11 in Y-direction The adjusting set.

As shown in Figure 10, lower driving device includes being rotatably arranged on main trunk body 2 and constituting spiral shell with secondary trunk body 4 Lower driving motor (the model of the motor for revolving the lower screw rod 3 of transmission and being set on main trunk body 2 and being connect with lower screw rod 3 TSB series of servo motor), the axis of lower screw rod 3 is parallel with Z-direction.Lower screw rod 3 is vertically arranged, lower screw rod 3 and secondary trunk Body 4 is to be threadedly coupled, and the periphery of lower screw rod 3 is provided with screw thread 3A, and one end of lower screw rod 3 and the motor shaft of lower driving motor are solid Fixed connection, the other end of lower screw rod 3 pass through the threaded hole being arranged on secondary trunk body 4.After lower driving motor operating, it can drive down Screw rod 3 is rotated around its axis, and lower screw rod 3 drives secondary trunk body 4 to be moved along Z-direction, secondary trunk body 4 by moving arm 5, Rotating arm 7 and support component drive 11 synchronizing moving of upper mounting plate, so as to realize the tune of position of the upper mounting plate 11 in Z-direction Section.

As shown in figs. 2 and 10, lower driving motor is located at the outside of pedestal 1 and lower driving motor is set to main trunk body 2 On, main trunk body 2 further includes being set on main guide holder 2C and for providing the step 2E of support, lower axle to lower screw rod 3 It holds a 2E to be fixedly connected with the lower end of main guide holder 2C, step 2E is equipped with the semi-cylindrical bearing for allowing lower screw rod 3 to be embedded in Bore 2F, lower driving motor are located at the lower section of step 2E.The axis of lower driving motor is parallel with the axis of first motor And the distance between rotation centerline of the axis of lower driving motor and main trunk body 2 is no more than the main revolving bed of main trunk body 2 The diameter of 2G, because lower screw rod 3 is arranged in the closer position of rotation centerline from main trunk body 2, so that the device is turning about the z axis Its driving motor revolution inertia is smaller when dynamic, reduces revolution inertia.

As shown in Fig. 2, Fig. 4 and Figure 10, secondary trunk body 4 includes secondary Mobile base 4H, is set on secondary Mobile base 4H and to shifting Secondary guide holder 4D that swing arm 5 play the guiding role, it is set on secondary Mobile base 4H and for providing support to upper driving device It bearing block 4F, the convex platform 4A for being set on secondary Mobile base 4H and being connect with lower driving device and is set on convex platform 4A and slotting Become owner of the sliding block 4C in the gliding groove 2D being arranged on guide holder 2C.Preferably, gliding groove 2D is dovetail groove, sliding block 4C For swallowtail-shaped structure.Secondary Mobile base 4H is that horizontally disposed and pair Mobile base 4H has certain length, the length of secondary Mobile base 4H Direction is parallel with Y-direction, and main revolving bed 2G is located at the lower section of secondary Mobile base 4H, and the top surface of main revolving bed 2G is for mobile with pair The plane of the bottom surface contact of seat 4H.Convex platform 4A is to be fixedly connected at the one side edge of secondary Mobile base 4H with pair Mobile base 4H, Convex platform 4A is stretched out along X to towards the outside of secondary Mobile base 4H, and convex platform 4A is to be threadedly coupled with lower screw rod 3, on convex platform 4A The threaded hole 4B for allowing lower screw rod 3 to be inserted into is set.Sliding block 4C is vertically arranged, and sliding block 4C is towards stretching below convex platform 4A Out, the upper end of sliding block 4C is fixedly connected with convex platform 4A, and sliding block 4C and main guide holder 2C is to be slidably connected, main guide holder 2C Between lower screw rod 3 and main revolving bed 2G.Gliding groove 2D is since the top surface of main guide holder 2C along the vertical direction towards main The dovetail groove that the internal stretch of guide holder 2C is formed, sliding block 4C are matched with main guide holder 2C, it is ensured that secondary trunk body 4 relative to Main trunk body 2 is only capable of moving in a straight line along the vertical direction.

As shown in Fig. 2, Fig. 4 and Figure 10, secondary guide holder 4D and top chock 4F are located at opposite the two of secondary Mobile base 4H End, the rotation centerline of main trunk body 2 is between pair guide holder 4D and top chock 4F.Secondary guide holder 4D is in secondary Mobile base One end on the length direction of 4H is fixedly connected with pair Mobile base 4H, and top chock 4F is on the length direction of secondary Mobile base 4H The other end be fixedly connected with pair Mobile base 4H.Top chock 4F is equipped with the semi-cylindrical bearing saddle bore for allowing screw rod 6 to be embedded in 4G, upper driving motor are set on top chock 4F, and upper driving motor is located at the same end of secondary Mobile base 4H with top chock 4F, Moving arm 5 is movably to be set on secondary guide holder 4D, and moving arm 5, rotating arm 7 and pair guide holder 4D are located at secondary Mobile base 4H The same end.By upper screw rod 6 and its mating worm drive, moving arm 5 can be made to move along y-axis, by upper driving motor and movement Arm 5 is respectively arranged the center two sides of secondary trunk body 44, in this way when the device turns round, the driving motor of rotating arm 7, upper drive The revolution inertia of dynamic motor can partial offset, reduce revolution inertia.

As shown in Fig. 2, Fig. 4, Fig. 5 and Figure 10, moving arm 5 includes the link block connecting with upper driving device, the company of being set to It connects on block and the top shoe 5F being inserted into the upper hopper chute 4E being arranged on the secondary guide holder 4D and support 5B being set on top shoe 5F, Rotating arm 7 has the shaft 7A in the axis hole 5C being arranged on insertion support 5B.Link block is vertically arranged and link block is located at pair Between guide holder 4D and top chock 4F, secondary Mobile base 4H is located at the lower section of link block, and upper screw rod 6 is screw thread company with link block It connects, the threaded hole 5E that setting allows screw rod 6 to be inserted on link block.Top shoe 5F is vertically arranged, and top shoe 5F is in the horizontal direction It is stretched out towards the outside of link block, the length direction of top shoe 5F is parallel with Y-direction, and one end and the link block of top shoe 5F is fixed Connection, top shoe 5F and pair guide holder 4D are to be slidably connected, and secondary guide holder 4D is located at the lower section of rotating arm 7.Upper hopper chute 4E be from The side for facing link block of secondary guide holder 4D starts the dovetail formed in the horizontal direction towards the internal stretch of secondary guide holder 4D Slot, upper hopper chute 4E simultaneously form the opening for allowing top shoe 5F to stretch out in the top surface of secondary guide holder 4D, top shoe 5F and secondary guide holder 4D It matches, it is ensured that moving arm 5 is only capable of moving in a straight line along Y-direction relative to secondary trunk body 4.Support 5B and top shoe 5F is fixed to be connected It connects, support 5B is located at the top of top shoe 5F, and support 5B provides a supporting role rotating arm 7, and rotating arm 7 is rotatable setting In on support 5B.Support 5B is located at the top of secondary guide holder 4D, and axis hole 5C is the circular hole being arranged on the top surface of support 5B, axis hole The axis of 5C is parallel with Z-direction.Moving arm 5, which is equipped with, provides the second motor of the driving force for rotating it (in figure to rotating arm 7 It is not shown, the model TSB series of servo motor of the motor), the motor shaft of the second motor is fixedly connected with rotating arm 7.

As shown in Fig. 4, Fig. 5, Fig. 6 and Figure 10, rotating arm 7 includes swivel plate and the shaft 7A being set on swivel plate, rotation Rotating plate is horizontally disposed and swivel plate with X to parallel with Y-direction, and swivel plate is rectangular slab, and swivel plate is located at the upper of top shoe 5F Side.Shaft 7A is cylindrical body, and the axis (namely rotation centerline of rotating arm 7) of shaft 7A is parallel with Z-direction, and shaft 7A is located at The lower section of swivel plate, the upper end of shaft 7A are to be fixedly connected at the center of swivel plate with swivel plate.When assembly, shaft 7A is packed into In axis hole 5C, and bearing (not shown) is set therebetween, makes rotating arm 7 can be 7A turns around the shaft relative to moving arm 5 It is dynamic, that is, turn about the Z axis.The inside of top shoe 5F is arranged in second motor, and the inside of top shoe 5F, which has, accommodates the second motor Accommodating cavity, the second motor motor shaft insertion axis hole 5C in and the motor shaft be fixedly connected with shaft 7A.

It so far, from the bottom up, can be around the rotation of z-axis, secondary trunk body 4 and main trunk body 2 between main trunk body 2 and pedestal 1 Between can be translatable along z-axis, moving arm 5 and secondary trunk body 4 can be translatable along y-axis.To sum up, this is real based on circular cylindrical coordinate system principle Existing position decoupling.

As shown in Figure 7 to 10, support component include be set on rotating arm 7 and connect with upper mounting plate 11 support rod 8, First extensible member 9 and the second extensible member 10, the adjustable in length of the first extensible member 9 and the second extensible member 10, support rod 8, first Extensible member 9 and the rectangular triangle of the second extensible member 10 are arranged, the first extensible member 9 and support rod 8 is in and first direction On parallel same straight line, the second extensible member 10 and support rod 8 are on the same straight line parallel with second direction, support Bar 8 is located between link block and the second extensible member 10.Support rod 8 is vertically arranged, and the lower end of support rod 8 is connect with rotating arm 7, The upper end of support rod 8 is connect by spherical linkage with upper mounting plate 11.The lower end of first extensible member 9 passes through spherical linkage and rotating arm The upper end of 7 connections, the first extensible member 9 is connect by spherical linkage with upper mounting plate 11.The lower end of second extensible member 10 passes through spherical shape Hinge is connect with rotating arm 7, and the upper end of the second extensible member 10 is connect by spherical linkage with upper mounting plate 11.First extensible member, 9 He The tie point of upper mounting plate 11 is on the same straight line parallel with first direction with the tie point of support rod 8 and upper mounting plate 11, The tie point of second extensible member 10 and upper mounting plate 11 is in parallel with second direction with the tie point of support rod 8 and upper mounting plate 11 Same straight line on, first direction and second direction are that horizontal direction and first direction and second direction are perpendicular.First stretches Contracting part 9 and the second extensible member 10 are vertically arranged, and the length direction of the first extensible member 9 and the second extensible member 10 is parallel with Z-direction, Pass through the first extensible member 9 and/or flexible, the tune of the corner dimension between realization upper mounting plate 11 and horizontal plane of the second extensible member 10 Section, can be such that upper mounting plate 11 switches between heeling condition and horizontality, and be able to achieve 11 tilt angle size of upper mounting plate Adjusting, and then realize upper mounting plate 11 on work piece posture adjusting.

As shown in Figure 7 to 10, rotating arm 7 further includes the first lower ball hinge 7B, mounting base 7D being set on swivel plate With the second lower ball hinge 7C, the lower end of support rod 8 is inserted into the blind cylindrical hole being arranged on mounting base 7D, the first extensible member 9 There is the first lower bulb 9C in the lower ball hinge 7B of insertion first, the first lower lower ball hinge 7B of bulb 9C and first to match for lower end It closes, forms spherical linkage；The lower end of second extensible member 10 has the second lower bulb 10C in the lower ball hinge 7C of insertion second, the Two lower bulb 10C are matched with the second lower ball hinge 7C, form spherical linkage.The bottom surface of upper mounting plate 11 is equipped with flexural pivot on first Seat 11A, ball hinge 11B in ball hinge 11C and third on second, the upper end of support rod 8 has in insertion third in ball hinge 11B Bulb, which matches with ball hinge 11B in third, forms spherical linkage；The upper end of first extensible member 9 has insertion the On one in ball hinge 11A first on bulb 9D, bulb 9D is matched with ball hinge 11A on first on first, forms spherical hinge Chain；The upper end of second extensible member 10 have in insertion second in ball hinge 11C second on bulb 10D, on second bulb 10D with Ball hinge 11C is matched on second, forms spherical linkage.By passing through 2 shunting means (by hydraulic in the end that fixture executes Or air pressure driving) realize another two posture freedom degree adjustment, due to the design using parallel connection by the way of so that driving device is not It needs to be arranged on fixture, so that the inertia of clamp end is substantially reduced, improves the precision of positioning.

First extensible member 9 and the second extensible member 10 can be hydraulic cylinder, or cylinder.As shown in figure 8, first is flexible Part 9 includes cylindrical the first cylinder barrel 9A, the first piston 9E being set in the first cylinder barrel 9A and connect with first piston 9E First piston bar 9B, First piston bar 9B and the first cylinder barrel 9A are coaxial arrangement, the lower end of First piston bar 9B and the first lower ball Head 9C is fixedly connected, and the first lower bulb 9C is located at the lower section of the first cylinder barrel 9A, and the first cylinder barrel is inserted into the upper end of First piston bar 9B In 9A and end of First piston bar 9B is fixedly connected with first piston 9E, and bulb 9D is solid on the upper end and first of the first cylinder barrel 9A Fixed connection.Second extensible member 10 include the second cylindrical cylinder barrel 10A, the second piston 10E being set in the second cylinder barrel 10A and The second piston bar 10B connecting with second piston 10E, second piston bar 10B and the second cylinder barrel 10A are coaxial arrangement, and second is living The lower end of stopper rod 10B descends bulb 10C to be fixedly connected with second, the second lower section for descending bulb 10C to be located at the second cylinder barrel 10A, and second The upper end of piston rod 10B is inserted into the second cylinder barrel 10A and the end of second piston bar 10B is fixedly connected with second piston 10E, the The upper end of two cylinder barrel 10A is fixedly connected with bulb 10D on second.

When first extensible member 9 is hydraulic cylinder, the first extensible member 9 is connected by the electric hydraulic pump of pipeline and peripheral hardware, electronic For hydraulic pump for hydraulic oil to be pumped in the first cylinder barrel 9A, pipeline is hose, and electric hydraulic pump is located at the outside of fixture, first Enter hydraulic oil in cylinder barrel 9A, push first piston 9E to move along the axial direction into the hydraulic oil in cylinder barrel, realizes that first stretches The adjusting of the length of contracting part 9.When second extensible member 10 is hydraulic cylinder, the second extensible member 10 passes through the electric hydaulic of pipeline and peripheral hardware Pump connection, for electric hydraulic pump for hydraulic oil to be pumped in the second cylinder barrel 10A, pipeline is hose, is entered in the second cylinder barrel 10A Hydraulic oil pushes second piston 10E to move along the axial direction, realizes the length of the second extensible member 10 into the hydraulic oil in cylinder barrel Adjusting.

When first extensible member 9 is cylinder, the first extensible member 9 is connected by the electric air pump of pipeline and peripheral hardware, electric air pump For compressed gas to be pumped in the first cylinder barrel 9A, pipeline is hose, and electric air pump is located at the outside of fixture, the first cylinder barrel 9A It is middle to enter compressed gas, it pushes first piston 9E to move along the axial direction into the compressed gas in cylinder barrel, realizes that first is flexible The adjusting of the length of part 9.When second extensible member 10 is cylinder, the second extensible member 10 is connected by the electric air pump of pipeline and peripheral hardware It connects, for electric air pump for compressed gas to be pumped in the second cylinder barrel 10A, pipeline is hose, enters compression in the second cylinder barrel 10A Gas pushes second piston 10E to move along the axial direction, realizes the length of the second extensible member 10 into the compressed gas in cylinder barrel Adjusting.

When adjusting the posture of upper mounting plate 11, first keep length constant second extensible member 10, it is then flexible by first The flexible and then control upper mounting plate 11 of part 9 is rotated around y-axis；When upper mounting plate 11 turns to required posture, the first extensible member 9 is protected It holds that length is constant, then is rotated by the flexible control upper mounting plate 11 of the second extensible member 10 around x-axis, finally make 11 turns of upper mounting plate Required posture is moved, realizes 11 other 2 posture freedom degree adjustment of upper mounting plate.

The series parallel type six degree of freedom full decoupling flexible jig of above structure, entirety is using " four axis+two axis of series connection are in parallel " Hybrid connected structure, the advantages of absorbing serial parallel mechanism, abandon its deficiency, structure design in layout, up from pedestal 1, under The axis of driving motor is parallel to the axis of main trunk body 2, is closer between two axis, make the revolution inertia of lower driving motor compared with It is small.Upper driving motor and the second motor are arranged in the two sides of the axis of main trunk body 2 simultaneously, part revolution inertia can be offset, Dexterously solves the problems, such as balance of shaking force；Up from pedestal 1, in the position near proximal end, using parallel connection platform, 2 Hydraulic or Pneumatic Transmission can be used in the driving of prismatic pair, and hose can be used in connecting line, and electric hydraulic pump or electric air pump can cloth It sets outside fixture, therefore significantly reduces the inertia of parallel connection platform or even fixture entirety, solve and arrange motor by proximal end Inertia force is set to increase sharply, the problem of kinetic characteristics aggravate.

The utility model is exemplarily described in conjunction with attached drawing above.Obviously, the utility model implements not It is limited by aforesaid way.As long as the various unsubstantialities that the method concept and technical solution that use the utility model carry out Improvement；Or it is not improved, the above-mentioned conception and technical scheme of the utility model are directly applied into other occasions, at this Within the protection scope of utility model.

Claims (10)

1. series parallel type six degree of freedom full decoupling flexible jig, including the upper mounting plate for placing work piece, it is characterised in that: also Including pedestal, the main trunk body being rotatably arranged on pedestal, movably be set to secondary trunk body on main trunk body, can The mobile moving arm being set on secondary trunk body, is set on rotating arm the rotating arm being rotatably arranged on moving arm And it is used to adjust the support component of the posture of the upper mounting plate, is set on main trunk body and be used to control secondary trunk body along Z-direction The upper driving dress for carrying out mobile lower driving device and being set on secondary trunk body and being moved for controlling moving arm along Y-direction It sets.

2. series parallel type six degree of freedom full decoupling flexible jig according to claim 1, it is characterised in that: the upper driving dress It sets including being rotatably arranged on the secondary trunk body and constituting the upper screw rod of worm drive with the moving arm and be set to The upper driving motor connecting on secondary trunk body and with upper screw rod, the axis of upper screw rod is parallel with Y-direction, upper driving motor and described Rotating arm is located at the two sides of the rotation centerline of the main trunk body.

3. series parallel type six degree of freedom full decoupling flexible jig according to claim 1 or 2, it is characterised in that: the lower drive Dynamic device include be rotatably arranged on the main trunk body and with the secondary trunk body constitute worm drive lower screw rod and The lower driving motor for being set on main trunk body and connecting with lower screw rod, the axis of lower screw rod are parallel with Z-direction.

4. series parallel type six degree of freedom full decoupling flexible jig according to claim 1 or 2, it is characterised in that: the main body The main guide holder and be set to that stem body includes main revolving bed, is set on main revolving bed and play the guiding role to the secondary trunk body Waist joint axis on main revolving bed, the pedestal have the axis hole for allowing waist joint axis to be inserted into.

5. series parallel type six degree of freedom full decoupling flexible jig according to claim 4, it is characterised in that: the pair trunk body Including secondary Mobile base, the secondary guide holder that is set on secondary Mobile base and play the guiding role to the moving arm, it is set to secondary movement On seat and it is used to provide the top chock of support to the upper driving device, is set on secondary Mobile base and filled with the lower driving It sets the convex platform of connection and is set to the sliding block on convex platform and being inserted into the gliding groove being arranged on the main guide holder.

6. series parallel type six degree of freedom full decoupling flexible jig according to claim 5, it is characterised in that: the gliding groove is Dovetail groove, the sliding block are swallowtail-shaped structure.

7. series parallel type six degree of freedom full decoupling flexible jig according to claim 5, it is characterised in that: the pair guide holder The opposite end of the secondary Mobile base is located at the top chock, the rotation centerline of the main trunk body is led positioned at pair To between seat and top chock.

8. series parallel type six degree of freedom full decoupling flexible jig according to claim 5, it is characterised in that: the moving arm packet The link block connecting with the upper driving device is included, is set on link block and is inserted into the upper hopper chute being arranged on the secondary guide holder In top shoe and the support that is set on top shoe, the rotating arm there is the shaft in the axis hole being arranged on insertion support.

9. series parallel type six degree of freedom full decoupling flexible jig according to claim 1 or 2, it is characterised in that: the support Component includes support rod, the first extensible member and the second extensible member for being set on the rotating arm and connecting with the upper mounting plate, The adjustable in length of first extensible member and the second extensible member, the first extensible member and support rod are in parallel with first direction same On one straight line, the second extensible member and support rod are on the same straight line parallel with second direction.

10. series parallel type six degree of freedom full decoupling flexible jig according to claim 9, it is characterised in that: described first stretches Contracting part and the second extensible member are hydraulic cylinder or cylinder.