CN213795448U - Five-degree-of-freedom series-parallel machine tool with decoupling parallel mechanism module - Google Patents
Five-degree-of-freedom series-parallel machine tool with decoupling parallel mechanism module Download PDFInfo
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- CN213795448U CN213795448U CN202022631690.4U CN202022631690U CN213795448U CN 213795448 U CN213795448 U CN 213795448U CN 202022631690 U CN202022631690 U CN 202022631690U CN 213795448 U CN213795448 U CN 213795448U
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Abstract
The utility model discloses a five-freedom-degree series-parallel machine tool with a decoupling parallel mechanism module, which comprises a base, a bracket, a workbench, a cutter rotating assembly, three movable slider assemblies, three movable branched chains and two constraint branched chains, wherein the bracket is arranged on the base; the three movable sliding block assemblies are respectively connected with the workbench through three moving branch chains, the constraint ends of the two constraint branch chains are arranged on the workbench, and the fixed ends of the two constraint branch chains are arranged on the bracket; the cutter rotating assembly is arranged at the bottom of the workbench. The utility model discloses a three degree of freedom of quadrature remove the rotatory parallel mechanism of two degree of freedom of parallel mechanism series connection sphere quadrature, make the lathe combine the advantage of series connection lathe with parallel machine tool, and working space is big, and bearing capacity is strong, initial assembly position appearance decoupling zero, and cutter rotation range is big, and inertia is little, is fit for the processing of complicated curved surface part.
Description
Technical Field
The utility model relates to a field, more specifically the utility model relates to a five degree of freedom series-parallel machine tools that contain decoupling zero parallel mechanism module that says so especially.
Background
In recent years, the application of parallel mechanisms to machine tools has been continuously developed. The mechanical structure of the traditional machine tool mostly adopts a series mechanism, and although the form has larger working space, the bearing capacity is small, the motion inertia is large, and the output end is easy to generate error accumulation. Since the last 90 s, parallel mechanisms are applied to the field of machine tools by various scholars due to the advantages of high rigidity, high precision, high bearing capacity and the like, the superior properties of the parallel mechanisms are fully exerted, and the parallel machine tools are called virtual axis machine tools in the industry. However, the parallel machine tool has a disadvantage of small working space. The series-parallel machine tool integrates the advantages of the series machine tool and the parallel machine tool, meets the requirement of the machine tool on the machining of modern complex parts at the present stage, and provides a good scheme for the problems.
At present, most five-degree-of-freedom series-parallel machine tools adopt a four-degree-of-freedom parallel mechanism to be connected with a single-degree-of-freedom rotating part in series, for example, a rotating machining head is connected with a workbench of the four-degree-of-freedom parallel mechanism in series or a rotating disc is connected with a static platform in series, wherein the representative of the four-degree-of-freedom parallel mechanism is as follows: a redundant drive five-axis linkage series-parallel machine tool proposed by patent 103240614a, a five-degree-of-freedom series-parallel numerical control machine tool proposed by patent 103252683a and a five-axis series-parallel machine tool for machining cylindrical parts proposed by patent 109108671 a.
The main motion control of the five-freedom-degree series-parallel machine tool is also centralized on the control of a four-freedom-degree parallel mechanism, the structure is complex, the design requirement is high, the control is difficult, and only a single-freedom-degree part is connected in series on the basis, so that a large-area cylindrical workpiece or a small-range curved part can be processed, and a large-area complex curved workpiece cannot be processed.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problem that current five degree of freedom series-parallel machine tool structure is complicated, the design requirement is many and difficult control, provided a five degree of freedom series-parallel machine tool that contains decoupling zero parallel mechanism module, its simple structure, workspace is big, initial assembly position appearance decoupling zero, cutter rotation range is big, and inertia is little.
The utility model discloses a following technical scheme realizes above-mentioned purpose: a five-degree-of-freedom series-parallel machine tool with a decoupling parallel mechanism module comprises a base, a support, a workbench, a cutter rotating assembly, three moving slide block assemblies, three moving branch chains and two constraint branch chains, wherein the support is arranged on the base; the three movable sliding block assemblies are respectively connected with the workbench through three moving branch chains, the restraining ends of the two restraining branch chains are arranged on the top surface of the workbench, and the fixed ends of the two restraining branch chains are arranged on the bracket; the cutter rotating assembly is arranged at the bottom of the workbench; the three moving slide block assemblies drive the whole formed by the workbench and the cutter rotating assembly to move in three degrees of freedom through three moving branch chains, and the two constraint branch chains constrain the three degrees of freedom movement of the workbench and the cutter rotating assembly;
the three moving slide block assemblies are completely the same in structure, the three moving slide block assemblies are respectively an X-axis moving slide block assembly, a Y-axis moving slide block assembly and a Z-axis moving slide block assembly, the X-axis moving slide block assembly and the Y-axis moving slide block assembly are fixed on the base through two angle steels, and the moving direction of the slide block of the X-axis moving slide block assembly is vertical to that of the Y-axis moving slide block assembly; the Z-axis moving slide block assembly is vertically arranged on the bracket through a first rib plate which is vertically arranged, and the moving direction of a slide block of the Z-axis moving slide block assembly is vertical to the plane where the moving direction of a slide block of the X-axis moving slide block assembly and the moving direction of the Y-axis moving slide block assembly are located;
the three moving branched chains have the same structure, the three moving branched chains are respectively an X-axis moving branched chain, a Y-axis moving branched chain and a Z-axis moving branched chain, an X-axis moving slide block assembly is connected with the side surface of the workbench through the X-axis moving branched chain, the Y-axis moving slide block assembly is connected with the side surface of the workbench through the Y-axis moving branched chain, the Z-axis moving slide block assembly is connected with the top surface of the workbench through the Z-axis moving branched chain, the moving branched chain comprises a first fixed rod, a second fixed rod and a third fixed rod, one end of the first fixed rod is connected with the moving end of the moving slide block assembly, the other end of the first fixed rod is connected with one end of the second fixed rod through a Hooke hinge, the other end of the second fixed rod is connected with one end of the third fixed rod through a Hooke hinge, and the other end of the third fixed rod is connected to the workbench;
the two constraint branched chains have the same structure, and are respectively an X-axis constraint branched chain and a Y-axis constraint branched chain, the X-axis constraint branched chain constrains the movement of the workbench when the X-axis motion branched chain drives the X-axis motion sliding block assembly to work, and the Y-axis constraint branched chain constrains the movement of the workbench when the Y-axis motion branched chain drives the Y-axis motion sliding block assembly to work; the restraint branched chain comprises a circular guide rod, a restraint rod and a fourth fixed rod, the bottom of the fourth fixed rod is fixed on the top surface of the workbench, the upper end of the fourth fixed rod is connected with the lower end of the restraint rod through a hook hinge, a guide groove is formed in the restraint rod, the circular guide rod is fixed on the support, the circular guide rod penetrates through the guide groove in the restraint rod, and the guide groove in the restraint rod is tangent to the circular guide rod; the circular guide rod of the X-axis constraint branched chain is horizontally arranged perpendicular to the movement direction of the X-axis movement branched chain, and the circular guide rod of the Y-axis constraint branched chain is horizontally arranged perpendicular to the movement direction of the Y-axis movement branched chain;
the cutter rotating assembly comprises an X-axis rotating branched chain, a Y-axis rotating branched chain, a Z-axis restraining rod, a calibrating platform, a cutter, an aluminum profile and two fourth moving slide block assemblies, wherein the calibrating platform is fixed at the bottom of the workbench through three aluminum profiles which are perpendicular to the calibrating platform; the two fourth movable sliding block assemblies are vertically fixed on the alignment platform; one end of the X-axis rotating branched chain is connected to a sliding block of one of the fourth movable sliding block assemblies, and the other end of the X-axis rotating branched chain is connected with the quasi-movable platform; one end of the Y-axis rotating branched chain is connected to the other sliding block of the fourth movable sliding block assembly, and the other end of the Y-axis rotating branched chain is connected to the quasi-movable platform; one end of the Z-axis constraint rod is hinged on the quasi-moving platform, and the other end of the Z-axis constraint rod is hinged on the quasi-fixed platform; the direction of the articulated shaft of the Z-axis constraint rod and the quasi-moving platform is mutually vertical to the motion direction of the slide block of the fourth moving slide block assembly connected with the X-axis rotating branched chain, and the direction of the articulated shaft of the Z-axis constraint rod and the quasi-determining platform is mutually vertical to the motion direction of the slide block of the fourth moving slide block assembly connected with the Y-axis rotating branched chain; the cutter is fixed at the bottom of the quasi-moving platform; the two fourth movable sliding block assemblies drive the whole body formed by the quasi-movable platform and the cutter to move through the X-axis rotary branched chain and the Y-axis rotary branched chain, and the Z-axis constraint rod constrains the moving direction of the whole body formed by the quasi-movable platform and the cutter.
Furthermore, remove the slider assembly and include first backing plate, first servo motor, first removal module and first connecting plate, first removal module is fixed on first backing plate, and first servo motor installs the one end and the drive of first removal module the motion of first removal module, first connecting plate is fixed on the slider of first removal module. The moving directions of the sliding blocks of the three moving sliding block assemblies can form an XYZ-axis coordinate system. The bottom parts of first base plates of the X-axis movable sliding block assembly and the Y-axis movable sliding block assembly are fixed above two angle steels, the lower parts of the two angle steels are fixed on the base, the first base plate of the Z-axis movable sliding block assembly is fixedly connected to a first rib plate, and the bottom part of the first rib plate is fixed on the support.
Furthermore, one side of the first fixed rod, which is close to the movable sliding block assembly, is provided with a first fixing flange, the first fixing flange of the first fixed rod is fixed on a first connecting plate of the movable sliding block assembly through a bolt, one side of the first fixed rod, which is close to the workbench, is provided with a second fixing flange, and the second fixing flange of the first fixed rod is fixed on the workbench through a bolt.
Furthermore, the guide groove on the restraint rod is square, and the width of the guide groove is matched with the diameter of the round guide rod. When the restraint rod moves, the round guide rod moves in the guide groove, and the sizes of the round guide rod and the guide groove are matched to ensure that overlarge friction resistance cannot be generated when the round guide rod moves.
Furthermore, fourth fixed rods of the two constraint branched chains are symmetrically arranged on two sides of the third fixed rod of the Z-axis motion branched chain.
Furthermore, the first fixed rods of the three moving branch chains penetrate through the support, and the first fixed rods of the three moving branch chains are connected with the support through bearings. The bearing holes on the bracket define the direction of the first fixed rod of the three moving branched chains to be necessarily consistent with the moving direction of the sliding blocks of the three moving sliding block assemblies.
Furthermore, the fourth movable sliding block assembly comprises a second servo motor, a second movable module, a second rib plate and a second base plate, the second base plate is vertically fixed on the alignment platform through the second rib plate, the second movable module is fixed on the second base plate, the second servo motor is fixed at one end of the second movable module and drives the second movable module to work, and sliding blocks of the second movable modules of the two fourth movable sliding block assemblies are respectively connected with driving ends of the X-axis rotary branched chain and the Y-axis rotary branched chain.
Furthermore, the Y-axis rotating branched chain comprises a second connecting plate, a fifth fixed rod, a fisheye joint bearing, a sixth fixed rod and a seventh fixed rod, the second connecting plate is fixed on a sliding block of another fourth movable sliding block assembly, one end of the fifth fixed rod is fixed on the second connecting plate, the other end of the fifth fixed rod is connected with one end of the sixth fixed rod through the fisheye joint bearing, the other end of the sixth fixed rod is connected with one end of the seventh fixed rod through the fisheye joint bearing, and the other end of the seventh fixed rod is fixed on one side surface of the movable platform; the axis direction of the fifth fixed rod is perpendicular to the axis direction of the seventh fixed rod. Because the two ends of the sixth fixed rod are connected with the fifth fixed rod and the seventh fixed rod through the fisheye joint bearings, the axis line direction of the sixth fixed rod is necessarily perpendicular to the axis line direction of the fifth fixed rod and the axis line direction of the seventh fixed rod.
Furthermore, the X-axis rotating branched chain comprises a third connecting plate, an eighth fixed rod, a joint bearing, a ninth fixed rod and a fourth connecting plate, the third connecting plate is fixed on a sliding block of one fourth movable sliding block assembly, one end of the eighth fixed rod is fixed on the third connecting plate, the other end of the eighth fixed rod is connected with one end of the ninth fixed rod through the joint bearing, the fourth connecting plate is fixed at the other end of the ninth fixed rod, and the fourth connecting plate is connected with the quasi-moving platform through a hinge shaft perpendicular to the seventh fixed rod.
Furthermore, the whole of the Z-axis constraint rod is U-shaped, two ends of the Z-axis constraint rod are respectively hinged to the accurate moving platform and the accurate fixing platform, the axis of the hinged shaft of the accurate fixing platform connected by the Z-axis constraint rod is coincided with the axis of the seventh fixing rod of the X-axis rotating branched chain, and the axis of the hinged shaft of the Y-axis rotating branched chain connected by the fourth connecting plate and the accurate moving platform is coincided with the axis of the hinged shaft of the accurate moving platform connected by the Z-axis constraint rod.
The beneficial effects of the utility model reside in that:
1. the utility model discloses a three degree of freedom translation parallel mechanism of quadrature establish ties two degree of freedom rotation parallel mechanism of sphere quadrature, compares four degree of freedom parallel mechanism series connection single degree of freedom mechanism, and working space is bigger, and bearing capacity is stronger, because the translation motion and the rotary motion of cutter are divided, can improve the moving range and the rotation range of cutter by a wide margin, is fit for processing the complicated curved surface work piece of large tracts of land.
2. The utility model discloses a remove the slider assembly and fix on the base, therefore the inertia of motion of branched chain is little.
3. The utility model discloses a three degree of freedom translation parallel mechanism of quadrature that removes the slider assembly and constitute can realize the initial assembly decoupling zero of mechanism to can realize that the machining tool removes on a large scale at spatial position.
4. The utility model discloses a rotatory parallel mechanism of two degrees of freedom is partial decoupling zero parallel mechanism, through three degrees of freedom translation parallel mechanism's location, can realize the processing of complicated curved surface to under the better prerequisite of ensureing bearing capacity, rotation range, motion control is easy, the precision is high.
Drawings
Fig. 1 is an overall structure schematic diagram of the five-degree-of-freedom series-parallel machine tool including the decoupling parallel mechanism module of the present invention.
Fig. 2 is a schematic structural diagram of the movable slider assembly of the present invention.
Fig. 3 is a schematic structural diagram of the kinematic branched chain of the present invention.
Fig. 4 is a schematic structural diagram of the restraint branched chain of the present invention.
Fig. 5 is a schematic structural diagram of the tool rotating assembly of the present invention.
Fig. 6 is a schematic structural diagram of the y-axis rotary branch chain of the tool rotating assembly of the present invention.
Fig. 7 is a schematic structural diagram of the x-axis rotary branch chain of the tool rotating assembly of the present invention.
In the figure, a 1-base, a 2-bracket, a 3-X axis moving slide block assembly, a 4-X axis moving branched chain, a 5-Y axis constraint branched chain, a 6-Z axis moving slide block assembly, a 7-Z axis moving branched chain, an 8-X axis constraint branched chain, a 9-cutter rotating assembly, a 10-workbench, an 11-Y axis moving branched chain, a 12-Y axis moving slide block assembly, 301-angle steel, 302-a first base plate, 303-a first servo motor, 304-a first moving module, 305-a slide block, 306-a first connecting plate, 401-a first fixed rod, 402-a second fixed rod, 403-a third fixed rod, 801-a fourth fixed rod, 802-a constraint rod, 803-a circular guide rod, 900-a fourth moving slide block assembly, a 901-standard platform, 902-a second moving module, 903-a Y-axis rotating branch chain, 904-a second servo motor, 905-an aluminum profile, 906-a second cushion plate, 907-a second rib plate, 908-an X-axis rotating branch chain, 909-a Z-axis restraining rod, 910-a quasi-moving platform, 911-a cutter, 9031-a second connecting plate, 9032-a fifth fixed rod, 9033-a fisheye joint bearing, 9034-a sixth fixed rod, 9035-a seventh fixed rod, 9081-a third connecting plate, 9082-a joint bearing, 9083-an eighth fixed rod, 9084-a ninth fixed rod and 9085-a fourth connecting plate.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
as shown in fig. 1 to 7, a five-degree-of-freedom series-parallel machine tool with a decoupling parallel mechanism module comprises a base 1, a support 2, a workbench 10, a cutter rotating assembly 9, three moving slider assemblies, three moving branched chains and two restricting branched chains, wherein the support 2 is installed on the base 1, the two moving slider assemblies are respectively installed on the base 1 along the directions of an X axis and a Y axis, and the third moving slider assembly is installed on the support 2 along the direction of a Z axis; the three movable sliding block assemblies are respectively connected with the workbench 10 through three moving branch chains, the restraining ends of the two restraining branch chains are arranged on the top surface of the workbench 10, and the fixed ends of the two restraining branch chains are arranged on the bracket 2; the cutter rotating assembly 9 is arranged at the bottom of the workbench 10; the three moving slide block assemblies drive the whole formed by the workbench 10 and the cutter rotating assembly 9 to move in three degrees of freedom through three moving branch chains, and the two constraint branch chains constrain the three degrees of freedom movement of the workbench 10 and the cutter rotating assembly. Support 2 and base 1 constitute the braced frame of whole device, and support 2 has many straight line aluminium alloy equipment to constitute, and its inside has sufficient space can not interfere the motion of cutter rotation assembly 9, and sufficient processing space is reserved to base 1 bottom.
The three moving slide block assemblies are completely the same in structure, the three moving slide block assemblies are respectively an X-axis moving slide block assembly 3, a Y-axis moving slide block assembly 12 and a Z-axis moving slide block assembly 6, the X-axis moving slide block assembly 3 and the Y-axis moving slide block assembly 12 are fixed on the base 1 through two angle steels 301, and the moving direction of the slide block of the X-axis moving slide block assembly 3 is vertical to that of the Y-axis moving slide block assembly 12; the Z-axis moving slide block assembly 6 is vertically arranged on the bracket 2 through a first rib plate which is vertically arranged, and the slide block moving direction of the Z-axis moving slide block assembly 6 is vertical to the plane where the slide block moving direction of the X-axis moving slide block assembly 3 and the moving direction of the Y-axis moving slide block assembly 12 are located. The basic composition of the movable sliding block assembly adopts a linear module mode, and the accurate control of the movement distance can be carried out, so that the accurate control of three degrees of freedom is carried out on the movement of the cutter rotating assembly 9 and the worktable 10.
The three moving branched chains have the same structure, the three moving branched chains are respectively an X-axis moving branched chain 4, a Y-axis moving branched chain 11 and a Z-axis moving branched chain 7, an X-axis moving sliding block assembly 3 is connected with the side surface of a workbench 10 through the X-axis moving branched chain 4, a Y-axis moving sliding block assembly 12 is connected with the side surface of the workbench 10 through the Y-axis moving branched chain 11, a Z-axis moving sliding block assembly 6 is connected with the top surface of the workbench 10 through the Z-axis moving branched chain 7, the moving branched chain comprises a first fixed rod 401, a second fixed rod 402 and a third fixed rod 403, one end of the first fixed rod 401 is connected with the moving end of the moving sliding block assembly, the other end of the first fixed rod 401 is connected with one end of the second fixed rod 402 through a Hooke hinge, the other end of the second fixed rod 402 is connected with one end of the third fixed rod 403 through a Hooke hinge, and the other end of the third fixed rod 403 is connected with the workbench 10. The moving branched chain formed by connecting the two hooke joints can enable the moving branched chain in one direction to move at a certain angle along with the moving branched chain in the other two directions when the moving branched chain in one direction works, and the work of the moving branched chain cannot be hindered.
The first fixed rods 401 of the three moving branch chains penetrate through the support 2, and the first fixed rods 401 of the three moving branch chains are connected with the support 2 through bearings.
The two constraint branched chains have the same structure, the two constraint branched chains are respectively an X-axis constraint branched chain 8 and a Y-axis constraint branched chain 5, the X-axis constraint branched chain 8 constrains the movement of a workbench 10 when an X-axis moving slide block assembly 3 drives an X-axis moving branched chain 4 to work, and the Y-axis constraint branched chain 5 constrains the movement of the workbench 10 when a Y-axis moving slide block assembly 12 drives a Y-axis moving branched chain 11 to work; the constraint branched chain comprises a circular guide rod 803, a constraint rod 802 and a fourth fixed rod 801, wherein the bottom of the fourth fixed rod 801 is fixed on the top surface of the workbench 10, the upper end of the fourth fixed rod 801 is connected with the lower end of the constraint rod 802 through a Hooke hinge, a guide groove is formed in the constraint rod 802, the circular guide rod 803 is fixed on the support 2, the circular guide rod 803 penetrates through the guide groove in the constraint rod 802, and the guide groove in the constraint rod 802 is tangent to the circular guide rod 803; the circular guide rod 803 of the X-axis constraint branched chain 8 is horizontally arranged perpendicular to the movement direction of the X-axis movement branched chain 4, and the circular guide rod 803 of the Y-axis constraint branched chain 5 is horizontally arranged perpendicular to the movement direction of the Y-axis movement branched chain 11. The guide groove on the restraining bar 802 is square, and the width of the guide groove is matched with the diameter of the round guide bar 803. The function of the constraint straight line is to limit the workbench to move in a certain direction rather than to twist in other indefinite directions when the corresponding direction movement branched chain works. One side of the first fixed rod 401, which is close to the movable slider assembly, is provided with a first fixing flange, the first fixing flange of the first fixed rod 401 is fixed on the first connecting plate 306 of the movable slider assembly through a bolt, one side of the first fixed rod 401, which is close to the workbench 10, is provided with a second fixing flange, and the second fixing flange of the first fixed rod 401 is fixed on the workbench 10 through a bolt.
The four fixed rods 801 of the two constrained branched chains are symmetrically arranged at two sides of the third fixed rod 403 of the Z-axis motion branched chain 7.
The tool rotating assembly 9 comprises an X-axis rotating branched chain 908, a Y-axis rotating branched chain 903, a Z-axis constraint rod 909 calibrating platform 901, a calibrating platform 910, a tool 911, an aluminum profile 905 and two fourth moving slider assemblies 900, wherein the calibrating platform 901 is fixed at the bottom of the workbench 10 through three aluminum profiles 905 which are perpendicular to the calibrating platform 901; the two fourth movable slider assemblies 900 are both vertically fixed on the alignment platform 901; one end of the X-axis rotating branch 908 is connected to the slider 305 of one of the fourth moving slider assemblies 900, and the other end of the X-axis rotating branch 908 is connected to the quasi-moving platform 910; one end of the Y-axis rotating branch 903 is connected to the other slider 305 of the fourth moving slider assembly 900, and the other end of the Y-axis rotating branch 903 is connected to the quasi-moving platform 910; one end of the Z-axis constraining rod 909 is hinged on the quasi-moving platform 910, and the other end of the Z-axis constraining rod 909 is hinged on the quasi-fixed platform 901; the direction of the articulated shaft of the Z-axis constraint rod 909 and the quasi-moving platform 910 is vertical to the slider motion direction of the fourth moving slider assembly 900 connected with the X-axis rotating branched chain 908, and the direction of the articulated shaft of the Z-axis constraint rod 909 and the quasi-moving platform 901 is vertical to the slider motion direction of the fourth moving slider assembly 900 connected with the Y-axis rotating branched chain 903; a cutter 911 is fixed at the bottom of the quasi-moving platform 910; the two fourth moving slider assemblies 900 drive the whole body formed by the quasi-moving platform 910 and the tool 911 to move through the X-axis rotating branched chain 908 and the Y-axis rotating branched chain 903, and the Z-axis constraining rod 909 constrains the moving direction of the whole body formed by the quasi-moving platform 910 and the tool 911.
The moving slide block assembly comprises a first base plate 302, a first servo motor 303, a first moving module 304 and a first connecting plate 306, wherein the first moving module 304 is fixed on the first base plate 302, the first servo motor 303 is installed at one end of the first moving module 304 and drives the first moving module 304 to move, and the first connecting plate 306 is fixed on a slide block 305 of the first moving module 304.
The fourth moving slider assembly 900 includes a second servo motor 904, a second moving module 902, a second rib plate 907 and a second pad plate 906, the second pad plate 906 is vertically fixed on the alignment platform 901 through the second rib plate 907, the second moving module 902 is fixed on the second pad plate 906, the second servo motor 904 is fixed at one end of the second moving module 902 and drives the second moving module 902 to work, and the sliders of the second moving module 902 of the two fourth moving slider assemblies 900 are respectively connected to the driving ends of the X-axis rotating branched chain 908 and the Y-axis rotating branched chain 903.
The Y-axis rotating branched chain 903 comprises a second connecting plate 9031, a fifth fixed rod 9032, a fisheye joint bearing 9033, a sixth fixed rod 9034 and a seventh fixed rod 9035, the second connecting plate 9031 is fixed to a slide block of the other fourth movable slide block assembly 900, one end of the fifth fixed rod 9032 is fixed to the second connecting plate 9031, the other end of the fifth fixed rod 9032 is connected with one end of the sixth fixed rod 9034 through the fisheye joint bearing 9033, the other end of the sixth fixed rod 9034 is connected with one end of the seventh fixed rod 9035 through the fisheye joint bearing 9033, and the other end of the seventh fixed rod 9035 is fixed to one side face of the movable platform; the axial lead direction of the fifth fixed rod 9032 is perpendicular to the axial lead direction of the seventh fixed rod 9035.
The X-axis rotating branched chain 908 includes a third connecting plate 9081, an eighth fixed rod 9083, a joint bearing 9082, a ninth fixed rod 9084, and a fourth connecting plate 9085, the third connecting plate 9081 is fixed to one of the sliders of the fourth movable slider assembly 900, one end of the eighth fixed rod 9083 is fixed to the third connecting plate 9081, the other end of the eighth fixed rod 9083 is connected to one end of the ninth fixed rod 9084 through the joint bearing 9082, the fourth connecting plate 9085 is fixed to the other end of the ninth fixed rod 9084, and the fourth connecting plate 9085 is connected to the movable platform 910 through a hinge shaft perpendicular to the seventh fixed rod 9035.
The whole body of the Z-axis constraint rod 909 is U-shaped, two ends of the Z-axis constraint rod 909 are respectively hinged on the quasi-moving platform 910 and the quasi-fixing platform 901, the axis of a hinged shaft of the Z-axis constraint rod 909, which is connected with the quasi-fixing platform 901, coincides with the axis of a seventh fixed rod 9035 of the X-axis rotating branched chain 908, and the axis of a hinged shaft of the fourth connecting plate 9085 of the Y-axis rotating branched chain 903, which is connected with the quasi-moving platform 910, coincides with the circumferential axis of a hinged shaft of the Z-axis constraint rod 909, which is connected with the quasi-moving platform 910.
The above-mentioned embodiment is only the preferred embodiment of the present invention, and is not to the limitation of the technical solution of the present invention, as long as the technical solution can be realized on the basis of the above-mentioned embodiment without creative work, all should be regarded as falling into the protection scope of the right of the present invention.
Claims (10)
1. The utility model provides a five degree of freedom series-parallel machine tools that contain decoupling zero parallel mechanism module which characterized in that: the three-dimensional cutting machine comprises a base (1), a support (2), a workbench (10), a cutter rotating assembly (9), three moving slide block assemblies, three moving branch chains and two constraint branch chains, wherein the support (2) is arranged on the base (1), the two moving slide block assemblies are respectively arranged on the base (1) along the directions of an X axis and a Y axis, and the third moving slide block assembly is arranged on the support (2) along the direction of a Z axis; the three movable sliding block assemblies are respectively connected with the workbench (10) through three moving branch chains, the restraining ends of the two restraining branch chains are arranged on the top surface of the workbench (10), and the fixed ends of the two restraining branch chains are arranged on the bracket (2); the cutter rotating assembly (9) is arranged at the bottom of the workbench (10); the three moving slide block assemblies drive the whole consisting of the workbench (10) and the cutter rotating assembly (9) to move in three degrees of freedom through three moving branch chains, and the two constraint branch chains constrain the three degrees of freedom movement of the workbench (10) and the cutter rotating assembly;
the three moving slide block assemblies are completely the same in structure, the three moving slide block assemblies are respectively an X-axis moving slide block assembly (3), a Y-axis moving slide block assembly (12) and a Z-axis moving slide block assembly (6), the X-axis moving slide block assembly (3) and the Y-axis moving slide block assembly (12) are fixed on the base (1) through two angle steels (301), and the moving direction of the slide block of the X-axis moving slide block assembly (3) is vertical to that of the Y-axis moving slide block assembly (12); the Z-axis moving slide block assembly (6) is vertically arranged on the bracket (2) through a first rib plate which is vertically arranged, and the moving direction of the slide block of the Z-axis moving slide block assembly (6) is vertical to the plane where the moving direction of the slide block of the X-axis moving slide block assembly (3) and the moving direction of the Y-axis moving slide block assembly (12) are located;
the three moving branched chains have the same structure, the three moving branched chains are respectively an X-axis moving branched chain (4), a Y-axis moving branched chain (11) and a Z-axis moving branched chain (7), an X-axis moving sliding block assembly (3) is connected with the side surface of a workbench (10) through the X-axis moving branched chain (4), a Y-axis moving sliding block assembly (12) is connected with the side surface of the workbench (10) through the Y-axis moving branched chain (11), a Z-axis moving sliding block assembly (6) is connected with the top surface of the workbench (10) through the Z-axis moving branched chain (7), the moving branched chain comprises a first fixed rod (401), a second fixed rod (402) and a third fixed rod (403), one end of the first fixed rod (401) is connected with the moving end of the moving sliding block assembly, the other end of the first fixed rod (401) is connected with one end of the second fixed rod (402) through a Hooke hinge, the other end of the second fixed rod (402) is connected with one end of the third fixed rod (403) through a Hooke hinge, the other end of the third fixed rod (403) is connected to the workbench (10);
the two constraint branched chains have the same structure, the two constraint branched chains are respectively an X-axis constraint branched chain (8) and a Y-axis constraint branched chain (5), the X-axis constraint branched chain (8) constrains an X-axis moving slide block assembly (3) to drive the movement of a workbench (10) when the X-axis moving branched chain (4) works, and the Y-axis constraint branched chain (5) constrains a Y-axis moving slide block assembly (12) to drive the movement of the workbench (10) when the Y-axis moving branched chain (11) works; the restraint branched chain comprises a round guide rod (803), a restraint rod (802) and a fourth fixed rod (801), the bottom of the fourth fixed rod (801) is fixed on the top surface of the workbench (10), the upper end of the fourth fixed rod (801) is connected with the lower end of the restraint rod (802) through a Hooke hinge, a guide groove is formed in the restraint rod (802), the round guide rod (803) is fixed on the support (2), the round guide rod (803) penetrates through the guide groove in the restraint rod (802), and the guide groove in the restraint rod (802) is tangent to the round guide rod (803); a circular guide rod (803) of the X-axis constraint branched chain (8) is horizontally arranged perpendicular to the movement direction of the X-axis movement branched chain (4), and a circular guide rod (803) of the Y-axis constraint branched chain (5) is horizontally arranged perpendicular to the movement direction of the Y-axis movement branched chain (11);
the cutter rotating assembly (9) comprises an X-axis rotating branched chain (908), a Y-axis rotating branched chain (903), a Z-axis constraint rod (909), a calibrating platform (901), a calibrating platform (910), a cutter (911), an aluminum profile (905) and two fourth movable slider assemblies (900), wherein the calibrating platform (901) is fixed at the bottom of the working platform (10) through three aluminum profiles (905) perpendicular to the calibrating platform (901); the two fourth movable sliding block assemblies (900) are vertically fixed on the alignment platform (901); one end of the X-axis rotating branched chain (908) is connected to the sliding block (305) of one fourth movable sliding block assembly (900), and the other end of the X-axis rotating branched chain (908) is connected with the quasi-movable platform (910); one end of the Y-axis rotating branched chain (903) is connected to the other slide block (305) of the fourth movable slide block assembly (900), and the other end of the Y-axis rotating branched chain (903) is connected to the quasi-movable platform (910); one end of a Z-axis restraining rod (909) is hinged on the quasi-moving platform (910), and the other end of the Z-axis restraining rod (909) is hinged on the quasi-fixed platform (901); the direction of a hinged shaft of the Z-axis constraint rod (909) and the quasi-moving platform (910) is vertical to the movement direction of a sliding block of a fourth moving sliding block assembly (900) connected with the X-axis rotating branched chain (908), and the direction of the hinged shaft of the Z-axis constraint rod (909) and the quasi-moving platform (901) is vertical to the movement direction of a sliding block of the fourth moving sliding block assembly (900) connected with the Y-axis rotating branched chain (903); a cutter (911) is fixed at the bottom of the quasi-moving platform (910); the two fourth movable sliding block assemblies (900) drive the whole body formed by the quasi-movable platform (910) and the cutter (911) to move through the X-axis rotating branched chain (908) and the Y-axis rotating branched chain (903), and the Z-axis constraint rod (909) constrains the moving direction of the whole body formed by the quasi-movable platform (910) and the cutter (911).
2. The five-degree-of-freedom series-parallel machine tool with the decoupling parallel mechanism module as claimed in claim 1, wherein: the movable sliding block assembly comprises a first base plate (302), a first servo motor (303), a first movable module (304) and a first connecting plate (306), wherein the first movable module (304) is fixed on the first base plate (302), the first servo motor (303) is installed at one end of the first movable module (304) and drives the first movable module (304) to move, and the first connecting plate (306) is fixed on a sliding block (305) of the first movable module (304).
3. The five-degree-of-freedom series-parallel machine tool with the decoupling parallel mechanism module as claimed in claim 1, wherein: one side of the first fixed rod (401) close to the movable sliding block assembly is provided with a first fixing flange, the first fixing flange of the first fixed rod (401) is fixed on a first connecting plate (306) of the movable sliding block assembly through a bolt, one side of the first fixed rod (401) close to the workbench (10) is provided with a second fixing flange, and the second fixing flange of the first fixed rod (401) is fixed on the workbench (10) through a bolt.
4. The five-degree-of-freedom series-parallel machine tool with the decoupling parallel mechanism module as claimed in claim 1, wherein: the guide groove on the restraint rod (802) is square, and the width of the guide groove is matched with the diameter of the round guide rod (803).
5. The five-degree-of-freedom series-parallel machine tool with the decoupling parallel mechanism module as claimed in claim 1, wherein: and the four fixed rods (801) for restricting the branched chains are symmetrically arranged at two sides of the third fixed rod (403) of the Z-axis motion branched chain (7).
6. The five-degree-of-freedom series-parallel machine tool with the decoupling parallel mechanism module as claimed in claim 1, wherein: the first fixed rods (401) of the three moving branched chains penetrate through the support (2), and the first fixed rods (401) of the three moving branched chains are connected with the support (2) through bearings.
7. The five-degree-of-freedom series-parallel machine tool with the decoupling parallel mechanism module as claimed in claim 1, wherein: the fourth movable sliding block assembly (900) comprises a second servo motor (904), a second movable module (902), a second rib plate (907) and a second base plate (906), the second base plate (906) is vertically fixed on the alignment platform (901) through the second rib plate (907), the second movable module (902) is fixed on the second base plate (906), the second servo motor (904) is fixed at one end of the second movable module (902) and drives the second movable module (902) to work, and sliding blocks of the second movable module (902) of the two fourth movable sliding block assemblies (900) are respectively connected with driving ends of the X-axis rotary branched chain (908) and the Y-axis rotary branched chain (903).
8. The five-degree-of-freedom series-parallel machine tool with the decoupling parallel mechanism module according to claim 7, is characterized in that: the Y-axis rotating branched chain (903) comprises a second connecting plate (9031), a fifth fixed rod (9032), a fisheye joint bearing (9033), a sixth fixed rod (9034) and a seventh fixed rod (9035), the second connecting plate (9031) is fixed to a slide block of the other fourth movable slide block assembly (900), one end of the fifth fixed rod (9032) is fixed to the second connecting plate (9031), the other end of the fifth fixed rod (9032) is connected with one end of the sixth fixed rod (9034) through the fisheye joint bearing (9033), the other end of the sixth fixed rod (9034) is connected with one end of the seventh fixed rod (9035) through the fisheye joint bearing (9033), and the other end of the seventh fixed rod (9035) is fixed to one side face of the movable platform; the axial lead direction of the fifth fixed rod (9032) is perpendicular to the axial lead direction of the seventh fixed rod (9035).
9. The five-degree-of-freedom series-parallel machine tool with the decoupling parallel mechanism module according to claim 8, is characterized in that: the X-axis rotating branched chain (908) comprises a third connecting plate (9081), an eighth fixed rod (9083), a joint bearing (9082), a ninth fixed rod (9084) and a fourth connecting plate (9085), the third connecting plate (9081) is fixed to a sliding block of one fourth movable sliding block assembly (900), one end of the eighth fixed rod (9083) is fixed to the third connecting plate (9081), the other end of the eighth fixed rod (9083) is connected with one end of the ninth fixed rod (9084) through the joint bearing (9082), the fourth connecting plate (9085) is fixed to the other end of the ninth fixed rod (9084), and the fourth connecting plate (9085) is connected with the quasi-moving platform (910) through a hinge shaft perpendicular to the seventh fixed rod (9035).
10. The five-degree-of-freedom series-parallel machine tool with the decoupling parallel mechanism module according to claim 9, is characterized in that: the whole body of the Z-axis constraint rod (909) is U-shaped, two ends of the Z-axis constraint rod (909) are respectively hinged to the quasi-moving platform (910) and the quasi-moving platform (901), the axis of a hinged shaft of the Z-axis constraint rod (909) connected with the quasi-moving platform (901) is superposed with the axis of a seventh fixed rod (9035) of the X-axis rotating branched chain (908), and the axis of a hinged shaft of a fourth connecting plate (9085) of the Y-axis rotating branched chain (903) connected with the quasi-moving platform (910) is superposed with the circumferential axis of a hinged shaft of the Z-axis constraint rod (909) connected with the quasi-moving platform (910).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318182A (en) * | 2020-11-15 | 2021-02-05 | 浙江工业大学 | Five-degree-of-freedom series-parallel machine tool |
| CN112318182B (en) * | 2020-11-15 | 2024-05-28 | 浙江工业大学 | Five-degree-of-freedom series-parallel machine tool |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112318182A (en) * | 2020-11-15 | 2021-02-05 | 浙江工业大学 | Five-degree-of-freedom series-parallel machine tool |
| CN112318182B (en) * | 2020-11-15 | 2024-05-28 | 浙江工业大学 | Five-degree-of-freedom series-parallel machine tool |
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