CN2691776Y - Three shaft parallel main shaft head mechanism for realizing multidirection vertical and horizontal processing - Google Patents
Three shaft parallel main shaft head mechanism for realizing multidirection vertical and horizontal processing Download PDFInfo
- Publication number
- CN2691776Y CN2691776Y CNU2004200416019U CN200420041601U CN2691776Y CN 2691776 Y CN2691776 Y CN 2691776Y CN U2004200416019 U CNU2004200416019 U CN U2004200416019U CN 200420041601 U CN200420041601 U CN 200420041601U CN 2691776 Y CN2691776 Y CN 2691776Y
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- parallel main
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Abstract
The utility model discloses a three shaft parallel main shaft head mechanism for realizing multidirection vertical and horizontal processing which is composed of a fixing platform, three rotary pair assemblies, three moveable auxiliary assemblies, three perch assemblies, three spherical pair assemblies, a movable platform assembly and a spindle unit. Three rotary pair assemblies which are in 120 degrees distribution are connected with the fixing platform. Three moveable auxiliary assemblies are respectively connected with three rotary pair assemblies. Three perch assemblies are respectively connected with three moveable auxiliary assemblies. Three spherical pair assemblies are respectively connected with three perch assemblies. The movable platform assembly is connected with three rotary pair assemblies which are in 120 degrees distribution. The spindle unit is arranged on the movable platform assembly. The movable platform assembly drives the spindle unit to do Z shaft longitudinal shift relative to the fixing platform and do A shaft rotation and B shaft rotation. The parallel connection mechanism has high feed speed, high specific stiffness and high precision. The rotating ranges of the A shaft and the B shaft are bigger than 90 degrees . The three shaft parallel main shaft head mechanism for realizing multidirection vertical and horizontal processing can realize multidirection vertical and horizontal processing and is suitable to be used for the three shaft parallel main shaft head mechanism with 3-RPS and 3-PRS principles.
Description
Technical field
The utility model belongs to mechanical field, relates to a kind of parallel institution, three parallel main shaft head mechanisms of the multi-faceted upright processing of crouching of the series-parallel machine tool that particularly a kind of parallel machine and series connection combine with parallel connection.
Background technology
The U.S. takes the lead in having released six complete parallel machines in recent years, various countries successively released one after another some complete parallel machines or series connection and the series-parallel machine tool that combines of parallel connection.The outstanding advantage of parallel machine is that moving-mass is little fully, and speed is fast, the specific stiffness height; Kinematic error does not add up, the precision height.One of shortcoming that it is had outstanding performance is that the job area of gyration is little, and the revolution range of six parallel institutions in parallel has only about 30 °～60 ° fully; By the design of German DST company, the mainshaft mechanism that is called " Z3 main tapping " that U.S. Cincinnati company produces is the three-axis parallel that adopts, and its revolution range has enlarged, and can reach ± 40 °, but still can not realize vertical and horizontal machining functions.
The research and development slewing area can realize the parallel main shaft head mechanism of processing of standing, crouch greater than 90 °, and to the advantage of performance parallel principle, the innovation research exploitation that promotes parallel machine and series-parallel machine tool is significant.
Summary of the invention
The purpose of this utility model is, a kind of three parallel main shaft head mechanisms of the multi-faceted upright processing of crouching are provided, and this mainshaft head mechanism has the advantage of parallel principle concurrently, and the revolution range of two gyroaxises is again all greater than 90 °, to realize the multi-faceted upright processing of crouching simultaneously.
To achieve these goals, the technical solution adopted in the utility model is, a kind of three parallel main shaft head mechanisms that realize the multi-faceted upright processing of crouching, form by three branches, specifically by fixed platform, three rotary pair assemblies, three moving sets assemblies, three bar assemblies, three spherical pair assemblies, moving platform assembly and spindle unit constitute; Be characterized in, three rotary pair assemblies are 120 ° and distribute and be connected with fixed platform, three rotary pair assemblies are connected with three moving sets assemblies respectively, three moving sets assemblies are connected with three bar assemblies respectively, three bar assemblies are connected with three spherical pair assemblies respectively, three spherical pair assemblies are 120 ° and distribute and be connected with the moving platform assembly, and spindle unit is installed on the moving platform assembly; Moving platform assembly 6 drives spindle units 7 and can make the Z axle relative to fixed platform 1 and vertically move and carry out rotating of A axle and B axle.
Some other characteristics of the present utility model are that the A axle of three parallel main shaft head mechanisms and the slewing area of B axle are greater than 90 °.
Three moving sets adopt driven by servomotor, also can adopt hydraulic-driven.
Spindle unit can adopt AC servo electricity main shaft, also can adopt AC frequency conversion electricity main shaft.
Described driven by servomotor is AC servo or DC servo or stepper motor.
The position of rotary pair and moving sets can be exchanged.
These three parallel main shaft head mechanism existing parallel institution feed speed height, specific stiffness height, advantage of high precision, avoided the little shortcoming of slewing area of parallel institution, also have A axle and the big advantage of B axle slewing area simultaneously,, can realize the multi-faceted upright processing of crouching all greater than 90 °.Its principle is applicable to three parallel main shaft head mechanisms of 3-RPS and 3-PRS principle.
Description of drawings
Fig. 1 (a) (b) (c) is a schematic diagram of the present utility model;
Fig. 2 is the structure chart that the utility model is used for three parallel main shaft head mechanisms of 3 3-RPS principles.
Fig. 3 is three parallel main shaft head mechanism structure figure that the utility model is used for 3 3-PRS principles.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
According to the technical solution of the utility model, a kind of three parallel main shaft head mechanisms that realize the multi-faceted upright processing of crouching, form by three branches, specifically by fixed platform 1,3, three bar assemblies 4 of 2, three moving sets assemblies of three rotary pair assemblies, three spherical pair assemblies 5, moving platform assembly 6 and spindle unit 7 constitute; Rotary pair assembly 2 is 120 ° and distributes and be connected with fixed platform 1, three rotary pair assemblies 2 are connected with three moving sets assemblies 3 respectively, three moving sets assemblies 3 are connected with three bar assemblies 4 respectively, three bar assemblies 4 are connected with three spherical pair assemblies 5 respectively, three spherical pair assemblies 5 are 120 ° and distribute and be connected with moving platform assembly 6, and spindle unit 7 is installed on the moving platform assembly 6; Moving platform assembly 6 drives spindle units 7 and can make the Z axle relative to fixed platform 1 and vertically move and carry out rotating of A axle and B axle.
Know-why of the present utility model is as follows:
The main tapping parallel institution is the 3-RPS principle, referring to Fig. 1 (a), has into three branches of 120 ° of distributions, and each branch is by rotary pair R, straight line moving sets P, bar L, spherical pair S forms, the upper end of three branches links to each other with fixed platform, and the lower end links to each other with moving platform, and spindle unit is installed on the moving platform.P is the active joint, and dynamic source drives, and R and S are passive joint.Three P joint motions of drive power source then can make moving platform drive spindle unit and move and do the gyration that A axle (around X-axis) rotates and B axle (around Y-axis) rotates along Z axle straight line.
Get i branch of one of them branch, referring to Fig. 1 (b), its revolute joint is R
i, ball-joint is S
iThe plane that axis determined in three R joints claims virtual fixed platform, and the entity component that the R joint is installed becomes the entity fixed platform, and the plane that three ball-joint centre of sphere points are determined is called virtual moving platform, and the entity component of three ball-joints of connection is called the entity moving platform.Make revolute joint R
iWith the inclination angle of entity fixed platform be α
IR, bar L
iWith the inclination angle of virtual moving platform be α
IL, ball-joint S
iWith the inclination angle of entity moving platform be α
IS, the inclination angle of spindle unit and entity moving platform is α
m, inclination alpha wherein
IRIn the operation process of mechanism, change.By configuration and optimization coupling α
IR, α
IL, α
ISAnd α
m, the slewing area that can make the A axle of this parallel main shaft head mechanism and B axle is greater than 90 °, because two gyroaxis slewing areas are all greater than 90 °, so can realize multi-faceted vertical and horizontal processing.
Above technology is equally applicable to three parallel main shaft head mechanisms of 3-PRS of Fig. 1 (c).
Referring to Fig. 2, three head mechanisms in parallel are made of fixed platform 1, three gyration subcomponents 2, three straight line moving sets assemblies 3, three bar assemblies 4, three spherical pair assemblies 5, moving platform assembly 6, spindle units 7, wherein three branches are 120 ° of distributions, the gyration subcomponent 2 of each branch is connected with fixed platform 1, straight line moving sets assembly 3 is connected with rotary pair assembly 2, bar assembly 4 is connected with moving sets assembly 3, and the relative fixed platform of each bar can vertically move the gyration with a single-degree-of-freedom; Spherical pair assembly 5 is connected with bar assembly 4, and three spherical pair assemblies 5 of moving platform assembly 6 and three branches are connected, and moving platform can realize that relative to fixed platform a vertical straight line moves and two rotations; Spindle unit 7 is installed on the moving platform 6, moves with moving platform, can realize the multi-faceted upright processing of crouching.
Embodiment 1:
Fig. 2 is the structure chart of three mainshaft mechanisms in parallel of 3-RPS type, fixed platform 1 among the figure becomes the rotary pair assembly 2 of 120 ° of distributions to be connected with three, three rotary pair assemblies 2 are connected with three moving sets assemblies 3 respectively, three moving sets assemblies 3 are connected with three bar assemblies 4 respectively, three bar assemblies 4 are connected with three spherical pair assemblies 5 respectively, 5 one-tenth 120 ° of distributions of three spherical pair assemblies are connected with moving platform 6, and moving platform 6 is connected with spindle unit 7.Three moving sets are the active movement pair, respectively by driven by servomotor, also can adopt hydraulic-driven, and spindle unit adopts AC servo electricity main shaft, also can adopt frequency conversion electricity main shaft.
Embodiment 2:
Fig. 3 is the structure chart of three mainshaft mechanisms in parallel of 3-PRS type, its implementation method is similar to Fig. 2, and the straight line moving sets of different is this parallel main shaft head mechanism is preceding, rotary pair after, the A axle of this mechanism and B axle have equally also surpassed 90 °, can realize the upright processing of crouching.
Claims (6)
1. three parallel main shaft head mechanisms that realize the multi-faceted upright processing of crouching are made up of three branches, specifically by fixed platform [1], three rotary pair assemblies [2], three moving sets assemblies [3], three bar assemblies [4], three spherical pair assemblies [5], moving platform assembly [6] and spindle unit [7] constitute; It is characterized in that, rotary pair assembly [2] is 120 ° and distributes and be connected with fixed platform [1], three rotary pair assemblies [2] are connected with three moving sets assemblies [3] respectively, three moving sets assemblies [3] are connected with three bar assemblies [4] respectively, three bar assemblies [4] are connected with three spherical pair assemblies [5] respectively, three spherical pair assemblies [5] are 120 ° and distribute and be connected with moving platform assembly [6], and spindle unit [7] is installed on the moving platform assembly [6]; Moving platform assembly [6] drives spindle unit [7] and can make the Z axle relative to fixed platform [1] and vertically move and carry out rotating of A axle and B axle.
2. three parallel main shaft head mechanisms of the multi-faceted upright processing of crouching of realization according to claim 1 is characterized in that the A axle of three parallel main shaft head mechanisms and the slewing area of B axle are greater than 90 °.
3. three parallel main shaft head mechanisms of the multi-faceted upright processing of crouching of realization according to claim 1 is characterized in that three moving sets [3] adopt driven by servomotor, also can adopt hydraulic-driven.
4. three parallel main shaft head mechanisms of the multi-faceted upright processing of crouching of realization according to claim 1 is characterized in that, spindle unit [7] can adopt AC servo electricity main shaft, also can adopt AC frequency conversion electricity main shaft.
5. three parallel main shaft head mechanisms of the multi-faceted upright processing of crouching of realization according to claim 3 is characterized in that described driven by servomotor is AC servo or DC servo or stepper motor.
6. three parallel main shaft head mechanisms of the multi-faceted upright processing of crouching of realization according to claim 1 is characterized in that the position of described rotary pair [2] and moving sets [3] can be exchanged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2004200416019U CN2691776Y (en) | 2004-03-01 | 2004-03-01 | Three shaft parallel main shaft head mechanism for realizing multidirection vertical and horizontal processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2004200416019U CN2691776Y (en) | 2004-03-01 | 2004-03-01 | Three shaft parallel main shaft head mechanism for realizing multidirection vertical and horizontal processing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2691776Y true CN2691776Y (en) | 2005-04-13 |
Family
ID=34774611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2004200416019U Expired - Lifetime CN2691776Y (en) | 2004-03-01 | 2004-03-01 | Three shaft parallel main shaft head mechanism for realizing multidirection vertical and horizontal processing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2691776Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CZ301781B6 (en) * | 2009-01-23 | 2010-06-23 | Ústav teorie informace a automatizace AV CR, v.v.i | Robotic device |
| CN101696634B (en) * | 2009-11-09 | 2012-06-13 | 上海交通大学 | Six-degree-of-freedom shield segment assembling machine |
| CN103419854A (en) * | 2013-07-25 | 2013-12-04 | 浙江大学 | Multi-joint pneumatic snake-shaped robot |
| CN109719306A (en) * | 2017-10-31 | 2019-05-07 | 香港理工大学深圳研究院 | For the varied angle cutting process of work surface structure |
-
2004
- 2004-03-01 CN CNU2004200416019U patent/CN2691776Y/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CZ301781B6 (en) * | 2009-01-23 | 2010-06-23 | Ústav teorie informace a automatizace AV CR, v.v.i | Robotic device |
| CN101696634B (en) * | 2009-11-09 | 2012-06-13 | 上海交通大学 | Six-degree-of-freedom shield segment assembling machine |
| CN103419854A (en) * | 2013-07-25 | 2013-12-04 | 浙江大学 | Multi-joint pneumatic snake-shaped robot |
| CN103419854B (en) * | 2013-07-25 | 2015-10-28 | 浙江大学 | Multi-joint pneumatic snake-shaped robot |
| CN109719306A (en) * | 2017-10-31 | 2019-05-07 | 香港理工大学深圳研究院 | For the varied angle cutting process of work surface structure |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20040301 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |