CN2745690Y - Two-dimensional moving two-dimensional rotating parallel motion platform - Google Patents
Two-dimensional moving two-dimensional rotating parallel motion platform Download PDFInfo
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- CN2745690Y CN2745690Y CN 200420102722 CN200420102722U CN2745690Y CN 2745690 Y CN2745690 Y CN 2745690Y CN 200420102722 CN200420102722 CN 200420102722 CN 200420102722 U CN200420102722 U CN 200420102722U CN 2745690 Y CN2745690 Y CN 2745690Y
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Abstract
The utility model relates to a two-dimensional moving two-dimensional rotating four-axle linkage parallel motion platform mechanism, the basic structure of which is composed of a fixed platform, a movable platform and five branches, wherein, the movable platform which can place processing workpieces is connected with the fixed platform by four branches which have the identical structure and a constrained branch. The four branches with the identical structure are arranged symmetrically around the movable platform. The constrained branch positioned in the middle of the movable platform is provided with degrees of freedom for two-dimensional moving and two-dimensional rotating. The platform mechanism is provided with five branches and four degrees of freedom. The utility model has the advantages of simple structure, good rigidity, easy control, good dynamic property, etc.
Description
Technical field
The utility model belongs to the numerical control machine tool technique field, particularly relates to a class two-dimensional shift and two-dimensional and rotates the parallel kinematic platform structure.
Background technology
Traditional Digit Control Machine Tool adopts series-mode frame, causes that the lathe volume is big, parts are many, complex structure, because each driving-chain is in series, thereby exists error accumulation, machining accuracy to be difficult to raising.Parallel robot mechanism is widely used in technical fields such as Digit Control Machine Tool, fine motion operating desk, simulator and spacecraft launching site in recent years owing to have characteristics such as stiffness/weight ratio is big, bearing capacity is strong, error accumulation is little, dynamic property is good, compact conformation.In the parallel machine application facet, at present, the application of Three Degree Of Freedom and six-degree-of-freedom parallel bed is very extensive, can provide the parallel machine mechanism of five degree of freedom also to obtain paying attention to.Have the four-freedom parallel mechanism that two-dimensional shift and two-dimensional rotates,, therefore never obtain paying attention to owing to need additional one-dimensional translation just can realize five coordinate working motions.
No matter be series-mode frame lathe or parallel structure lathe, the process principle of most lathes all is that cutter drives is finished processing, promptly by spindle motor is installed on moving platform, realizes processing to workpiece thereby drive tool motion.It then is that workpiece is placed on the moving platform that workpiece drives the processing type parallel machine, doing the processing main motion by moving platform cooperates the synkinesia of cutter to realize processing to complex-curved workpiece again, this class lathe is the axial parallel machine tool structure latest development, and the lower-mobility parallel kinematic platform that is used for workpiece driving processing type parallel machine at present is also fewer.
Summary of the invention
The purpose of this utility model is to provide a kind of two-dimensional shift and two-dimensional to rotate the parallel kinematic platform structure, and that this platform has is simple in structure, good rigidly, be easy to characteristics such as control and dynamic property are good.
For achieving the above object, the utility model is realized by following proposal.The parallel kinematic platform comprise fixed platform, can place the moving platform of processing work and be connected in fixed platform and moving platform between five branches form.Fixed platform links to each other with moving platform by four identical in structure branches and a bound branch, constitute the space parallel closed loop structure, wherein four identical in structure branches are positioned at around the moving platform, the structure of each branch is fixed platform and is connected with a connecting rod by ball pivot or Hooke's hinge, this root connecting rod is connected with another connecting rod by moving sets, and this connecting rod links to each other with moving platform by ball pivot again; Bound branch is positioned at moving platform central authorities, and its structure is that connecting rod one end links to each other with moving platform by Hooke's hinge, and the other end is affixed on a moving sets or the revolute pair, and this moving sets or revolute pair are connected in series on another moving sets that connects firmly with fixed platform.The branch of four symmetric arrangement can add that the feed screw nut transmission drives or by the hydraulic cylinder actuator drives or directly driven these four scalable variations of branch length by linear electric motors by motor.
The bound branch upper end that is positioned at moving platform central authorities links to each other with moving platform by Hooke's hinge, the lower end can be realized by two schemes, scheme one is to be realized by two orthogonal moving sets of moving direction, the moving sets that is positioned at the below links to each other with fixed platform, the moving sets that is positioned at the top then is connected with bound branch, and the axis of first revolute pair of the Hooke's hinge that bound branch links to each other with moving platform is parallel with the moving direction of one of them moving sets.Two orthogonal moving sets of moving direction all can be realized by the mobile platform that guide rail and leading screw are formed.Scheme two is to realize by a revolute pair with the moving sets that fixed platform connects firmly, revolute pair axis direction is parallel with the moving sets moving direction, and the axis of first revolute pair of the Hooke's hinge that bound branch links to each other with moving platform is parallel with the moving direction of moving sets.Wherein moving sets can be realized by the platform that guide rail and leading screw are formed, and revolute pair can realize by revolute pair is installed on the nut that matches with leading screw.
The beneficial effects of the utility model are: overcome the possibility that cutter drives processing type parallel machine spindle motor with bound branch and bound branch interfere.Place processing work on the utility model parallel kinematic platform, can make workpiece do the 4-coordinate motion, adding fixes a cutting tool can realize the machining functions of five coordinates like this along z to moving.Utilize this platform structure can realize, make the lathe after the technological transformation have the complex-curved ability of five coordinate processing spaces of the technological transformation of existing common three coordinate numerical control milling machine to high performance five coordinate parallel machines.And because the high rigidity that the parallel kinematic platform provides improves the dynamic property of machine tooling, thereby make workpiece obtain high machining accuracy.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is a structural principle schematic diagram of the present utility model.
Fig. 2 is the structural representation of first embodiment of the utility model.
Fig. 3 is the structural representation of second embodiment of the utility model.
1. fixed platforms among the figure, 2. Hooke's hinge (or ball pivot), 3. connecting rod, 4. connecting rod, 5. ball pivot, 6. moving platform, 7. Hooke's hinge, 8. connecting rod, 9. moving sets (or revolute pair), 10. moving sets, 11. guide rails, 12. leading screws, the constraint of 13. stiff ends, 14. nuts.
The specific embodiment
Accompanying drawing 2 is that first two-dimensional shift and two-dimensional of the utility model rotates parallel kinematic platform structure embodiment, and its structure principle chart is seen accompanying drawing 1.By shown in Figure 2, this parallel kinematic platform structure comprise fixed platform 1, can place the moving platform 6 of processing work and be connected in fixed platform 1 and moving platform 6 between five branches form.Fixed platform 1 links to each other with moving platform 6 by four identical in structure branches and a bound branch, constitute the space parallel closed loop structure, wherein four identical in structure branches are positioned at around the moving platform, the structure of each branch is fixed platform 1 and links to each other with connecting rod 3 by ball pivot or Hooke's hinge 2, connecting rod 3 links to each other with connecting rod 4 by moving sets, and connecting rod 4 links to each other with moving platform 6 by ball pivot 5; Bound branch is positioned at moving platform central authorities, its structure is that connecting rod 8 one ends link to each other with moving platform 6 by Hooke's hinge 7, the other end links to each other with moving sets 9 by stiff end constraint 13, moving sets 9 is connected in series on another moving sets 10, two moving sets moving directions are vertical mutually, moving sets 10 connects firmly with fixed platform, and the axis of first revolute pair of the Hooke's hinge that bound branch links to each other with moving platform is parallel with the moving direction of moving sets 10.
Accompanying drawing 3 is that second two-dimensional shift and two-dimensional of the utility model rotates parallel kinematic platform structure embodiment, and its structure principle chart is seen accompanying drawing 1.By shown in Figure 3, this parallel kinematic platform structure comprise fixed platform, can place the moving platform of processing work and be connected in fixed platform and moving platform between five branches form.Fixed platform links to each other with moving platform by four identical in structure branches and a bound branch, constitute the space parallel closed loop structure, wherein four identical in structure branches are positioned at around the moving platform, the structure of each branch is fixed platform 1 and is connected with connecting rod 3 by ball pivot or Hooke's hinge 2, connecting rod 3 is connected with another connecting rod 4 by moving sets, and this connecting rod links to each other with moving platform 6 by ball pivot 5; Bound branch is positioned at moving platform central authorities, its structure is that connecting rod 8 one ends link to each other with moving platform 6 by Hooke's hinge 7, the other end links to each other with a revolute pair 14, revolute pair 14 is positioned on the moving sets 10, this moving sets 10 connects firmly with fixed platform 1, its moving direction is parallel with revolute pair axis direction, and the axis of first revolute pair of the Hooke's hinge that bound branch links to each other with moving platform is parallel with the moving direction of moving sets 10.
The utility model drives the workbench of processing type parallel machine as workpiece, can provide bidimensional to move x, y and bidimensional rotates α, β, be aided with process tool along z to move, can implementation space five coordinate working motions.The pattern that structural shape of the present utility model is not limited to describe among the embodiment.
Claims (6)
1, a kind of two-dimensional shift and two-dimensional rotates the parallel kinematic platform, comprise fixed platform (1), can place the moving platform (6) of processing work and be connected in fixed platform (1) and moving platform (6) between five branches form, it is characterized in that, fixed platform (1) links to each other with moving platform (6) by four identical in structure branches and a bound branch, constitute the space parallel closed loop structure, wherein four identical in structure branches are positioned at around the moving platform, the structure of each branch is fixed platform (1) and is connected with connecting rod (3) by ball pivot or Hooke's hinge (2), connecting rod (3) is connected with connecting rod (4) by moving sets, and connecting rod (4) is connected with moving platform (6) by ball pivot (5); Bound branch is positioned at moving platform central authorities, its structure is that connecting rod (8) one ends are connected with moving platform (6) by Hooke's hinge (7), the other end connects firmly on a moving sets or the revolute pair, and this moving sets or revolute pair are connected in series on another moving sets (10) that connects firmly with fixed platform (1).
2, parallel kinematic platform according to claim 1, it is characterized in that, be positioned at the bound branch of moving platform central authorities, be connected with moving sets (9) by stiff end constraint (13), moving sets (9) is connected in series to again on another moving sets (10), moving sets (10) connects firmly with fixed platform, and the moving direction of two moving sets is vertical mutually, and the axis of first revolute pair of the Hooke's hinge that bound branch links to each other with moving platform (6) is parallel with the moving direction of moving sets (10).
3, parallel kinematic platform according to claim 1, it is characterized in that, the bound branch that is positioned at moving platform central authorities is connected with a revolute pair, revolute pair is positioned on the moving sets (10), moving sets (10) connects firmly with fixed platform, its moving direction is parallel with revolute pair axis direction, and the axis of first revolute pair of the Hooke's hinge that bound branch links to each other with moving platform (6) is parallel with the moving direction of moving sets (10).
4, parallel kinematic platform according to claim 1, it is characterized in that, the branch of four symmetric arrangement can add that the feed screw nut transmission drives or by the hydraulic cylinder actuator drives or directly driven these four scalable variations of branch length by linear electric motors by motor.
5, parallel kinematic platform according to claim 2 is characterized in that, two orthogonal moving sets of moving direction (9) and (10) all can be realized by the mobile platform that guide rail (11) and leading screw (12) are formed.
6, parallel kinematic platform according to claim 3 is characterized in that, can be realized that with the moving sets (10) that fixed platform connects firmly revolute pair can be installed on the nut (14) that matches with leading screw by the platform that a guide rail (11) and leading screw (12) are formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420102722 CN2745690Y (en) | 2004-12-07 | 2004-12-07 | Two-dimensional moving two-dimensional rotating parallel motion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420102722 CN2745690Y (en) | 2004-12-07 | 2004-12-07 | Two-dimensional moving two-dimensional rotating parallel motion platform |
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| Publication Number | Publication Date |
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| CN2745690Y true CN2745690Y (en) | 2005-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200420102722 Expired - Fee Related CN2745690Y (en) | 2004-12-07 | 2004-12-07 | Two-dimensional moving two-dimensional rotating parallel motion platform |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101712151A (en) * | 2009-11-11 | 2010-05-26 | 哈尔滨工业大学深圳研究生院 | Large-inclination six-degree-of-freedom parallel robot |
| CN104925232A (en) * | 2015-06-26 | 2015-09-23 | 燕山大学 | Shipboard helicopter stabilized platform |
| CN106053480A (en) * | 2016-07-29 | 2016-10-26 | 常州大学 | Four-rotation detection platform for automatic optical detection system |
| CN107378441A (en) * | 2017-08-31 | 2017-11-24 | 中国重型机械研究院股份公司 | A kind of high-precision motion platform and movement technique |
| CN109506089A (en) * | 2018-11-30 | 2019-03-22 | 西安海康普德智能装备有限公司 | A kind of balance and stability device and application method supporting high speed rotation camera |
| CN113148000A (en) * | 2021-03-15 | 2021-07-23 | 清华大学 | Carrier-borne compensation platform and ship |
| CN118663972A (en) * | 2024-08-23 | 2024-09-20 | 运城学院 | Curved pipeline cutting mechanism and use method thereof |
-
2004
- 2004-12-07 CN CN 200420102722 patent/CN2745690Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101712151A (en) * | 2009-11-11 | 2010-05-26 | 哈尔滨工业大学深圳研究生院 | Large-inclination six-degree-of-freedom parallel robot |
| CN104925232A (en) * | 2015-06-26 | 2015-09-23 | 燕山大学 | Shipboard helicopter stabilized platform |
| CN106053480A (en) * | 2016-07-29 | 2016-10-26 | 常州大学 | Four-rotation detection platform for automatic optical detection system |
| CN107378441A (en) * | 2017-08-31 | 2017-11-24 | 中国重型机械研究院股份公司 | A kind of high-precision motion platform and movement technique |
| CN109506089A (en) * | 2018-11-30 | 2019-03-22 | 西安海康普德智能装备有限公司 | A kind of balance and stability device and application method supporting high speed rotation camera |
| CN113148000A (en) * | 2021-03-15 | 2021-07-23 | 清华大学 | Carrier-borne compensation platform and ship |
| CN118663972A (en) * | 2024-08-23 | 2024-09-20 | 运城学院 | Curved pipeline cutting mechanism and use method thereof |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |