CN101850519A - Space five-freedom parallel machine tool - Google Patents
Space five-freedom parallel machine tool Download PDFInfo
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- CN101850519A CN101850519A CN 201010185847 CN201010185847A CN101850519A CN 101850519 A CN101850519 A CN 101850519A CN 201010185847 CN201010185847 CN 201010185847 CN 201010185847 A CN201010185847 A CN 201010185847A CN 101850519 A CN101850519 A CN 101850519A
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Abstract
The invention discloses a space five-freedom parallel machine tool, comprising a pentagon machine frame, a static platform, a mobile platform, five rotating ball screw pairs, five non-restraint branched chains and a restraint branched chain, wherein two ends of the five rotating ball screw pairs are respectively fixed on five angular points of the machine frame and the static platform; the machine frame is parallel to the static platform; each non-restraint branched chain is formed by a connecting rod and spherical hinges at two ends of the connecting rod, one of the spherical hinges is connected with a lead screw nut, and the other one is connected with five angular points of the pentagon mobile platform; and the restraint branched chain is formed by a sliding pair and hook joints at two ends of the sliding pair, the two hook joints are respectively connected with the centers of the static platform and the mobile platform, and the side length of the mobile platform is shorter than the side lengths of the static platform and the machine frame. The parallel machine tool not only has the characteristics of movement in three directions and rotation in two directions in space, but also has strong loading capability, high movement precision, no accumulative error and good application prospects in precise sensor, micromotion worktable, virtual axis machine tool and other fields.
Description
Technical field
The present invention relates to a kind of axial parallel machine tool structure, especially a kind of five-freedom parallel machine tool that rotates with 2 directions that can 3 directions in implementation space move.
Background technology
Parallel machine has the characteristic of many excellences with respect to traditional cascade machine bed accessory, as highly sensitive, rigidity is big, bearing capacity is strong, error free accumulation etc.For the series connection lathe, the five-axle linkage structure can satisfy the requirement of most industrial processes and production, but often because a series of problems such as its machining accuracy and mechanical characteristic are brought very big inconvenience to production, the lathe researcher satisfies enterprise's production needs to have dropped into a large amount of technology and capital in the machine tool structure R﹠D process, but gets little.Parallel machine can address the above problem, and the lathe of connecting with tradition forms has complementary advantages, and the structure research and development of therefore studying parallel machine are very crucial problems.
Summary of the invention
At above-mentioned deficiency, the purpose of this invention is to provide a kind of 3 directions in space that have that can satisfy industrial overwhelming majority production and process requirements and move the five-freedom parallel machine tool that rotates with 2 directions.
Space five-freedom parallel machine tool of the present invention, comprise the pentagon frame, the pentagon silent flatform, the pentagon moving platform of boundary between frame and silent flatform, article five, ball screw assembly,, article five, a unconfinement side chain and a treaty bundle branch chain, every ball screw assembly, has ball-screw and feed screw nut, article five, the two ends of ball screw assembly, respectively by bearing fixing on five angle points of frame and silent flatform, frame is parallel with silent flatform, article five, ball screw assembly, is rotated by motor-driven respectively, every the unconfinement side chain is made of connecting rod and first ball pivot and second ball pivot that are installed in the connecting rod two ends, article five, first ball pivot of unconfinement side chain links to each other with feed screw nut on five ball screw assembly,s respectively, second ball pivot links to each other with five angle points of pentagon moving platform respectively, constrained branched chain is made of moving sets and first Hooke's hinge and second Hooke's hinge that are installed in the moving sets two ends, first Hooke's hinge links to each other with the silent flatform center, second Hooke's hinge links to each other with the moving platform center, first, the rotation of the second two Hooke's hinges is parallel to each other, first Hooke's hinge rotation place face and the silent flatform planes overlapping, second Hooke's hinge rotation place face and the moving platform planes overlapping, the length of side of moving platform is less than the length of side of silent flatform and the length of side of frame.
Operation principle: the frame of five-freedom parallel machine tool maintains static, and silent flatform is because the effect of ball screw assembly, is still in the frame top, and ball screw assembly, moves under the drive of motor and makes feed screw nut to move up and down.Feed screw nut can drive five unconfinement side chains and move, and owing to the unconfinement side chain links to each other with moving platform, thereby drives moving platform generation spatial movement.Constrained branched chain is connected between silent flatform and the moving platform, and it has retrained a spatial rotational free degree of moving platform, and moving platform is in the rotation that reaches on 2 directions of moving that can take place under the influence of five unconfinement side chains and a treaty bundle branch chain on 3 directions.
Compare with existing series connection lathe, the advantage that the present invention has is:
Strong, the no accumulated error of simple, the bearing capacity of axial parallel machine tool structure, be active in one's movements.
2. the parallel machine suitable application area is extensive, can use fields such as sophisticated sensor, operating robot and micro displacement workbench, and good application prospects is arranged.
3. parallel machine is by the motor driven ball screws pair, and the transmission accuracy of ball screw assembly, can further improve the machining accuracy of lathe.
Description of drawings
Fig. 1 is a space five-freedom parallel machine tool schematic diagram of the present invention.
Among the figure: 1. frame, 2. silent flatform, 3. moving platform, 4. motor, 5. ball screw assembly,, 6. unconfinement side chain, 7. constrained branched chain, 5-1. ball-screw, 5-2. feed screw nut, 6-1. first ball pivot, 6-2. second ball pivot, 7-1. first Hooke's hinge, 7-2. second Hooke's hinge, 7-3. moving sets.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
With reference to Fig. 1, space five-freedom parallel machine tool of the present invention, comprise pentagon frame 1, pentagon silent flatform 2, the pentagon moving platform 3 of boundary between frame 1 and silent flatform 2, article five, ball screw assembly, 5, article five, a unconfinement side chain 6 and a treaty bundle branch chain 7, every ball screw assembly, 5 has ball-screw 5-1 and feed screw nut 5-2, article five, the two ends of ball screw assembly, 5 respectively by bearing fixing on five angle points of frame 1 and silent flatform 2, frame 1 is parallel with silent flatform 2, article five, ball screw assembly, 5 drives rotation by motor 4 respectively, motor 4 can be installed on the frame, perhaps also can be installed in as shown in the figure on the silent flatform, every unconfinement side chain 6 is made of with the first ball pivot 6-1 and the second ball pivot 6-2 that are installed in the connecting rod two ends connecting rod, article five, the first ball pivot 6-1 of unconfinement side chain 6 links to each other with feed screw nut 5-2 on five ball screw assembly,s 5 respectively, the second ball pivot 6-2 links to each other with five angle points of pentagon moving platform 3 respectively, constrained branched chain 7 is made of moving sets 7-3 and the first Hooke's hinge 7-1 and the second Hooke's hinge 7-2 that are installed in moving sets 7-3 two ends, the first Hooke's hinge 7-1 links to each other with silent flatform 2 centers, the second Hooke's hinge 7-2 links to each other with moving platform 3 centers, first, the second two Hooke's hinge 7-1, the rotation of 7-2 is parallel to each other, the first Hooke's hinge 7-1 rotation place face and silent flatform 2 planes overlapping, the second Hooke's hinge 7-2 rotation place face and moving platform 3 planes overlapping, the length of side of moving platform is less than the length of side of silent flatform and the length of side of frame.
Claims (1)
1. space five-freedom parallel machine tool, it is characterized in that comprising pentagon frame (1), pentagon silent flatform (2), the pentagon moving platform (3) of boundary between frame (1) and silent flatform (2), article five, ball screw assembly, (5), article five, a unconfinement side chain (6) and a treaty bundle branch chain (7), every ball screw assembly, (5) has ball-screw (5-1) and feed screw nut (5-2), article five, the two ends of ball screw assembly, (5) respectively by bearing fixing on five angle points of frame (1) and silent flatform (2), frame (1) is parallel with silent flatform (2), article five, ball screw assembly, (5) drives rotation by motor (4) respectively, every unconfinement side chain (6) is made of connecting rod and first ball pivot (6-1) that is installed in the connecting rod two ends and second ball pivot (6-2), article five, first ball pivot (6-1) of unconfinement side chain (6) links to each other with feed screw nut (5-2) on five ball screw assembly,s (5) respectively, second ball pivot (6-2) links to each other with five angle points of pentagon moving platform (3) respectively, constrained branched chain (7) is by moving sets (7-3) and be installed in first Hooke's hinge (7-1) at moving sets (7-3) two ends and second Hooke's hinge (7-2) constitutes, first Hooke's hinge (7-1) links to each other with silent flatform (2) center, second Hooke's hinge (7-2) links to each other with moving platform (3) center, first, the second two Hooke's hinge (7-1, rotation 7-2) is parallel to each other, first Hooke's hinge (7-1) rotation place face and silent flatform (2) planes overlapping, second Hooke's hinge (7-2) rotation place face and moving platform (3) planes overlapping, the length of side of moving platform is less than the length of side of silent flatform and the length of side of frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010185847 CN101850519A (en) | 2010-05-28 | 2010-05-28 | Space five-freedom parallel machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010185847 CN101850519A (en) | 2010-05-28 | 2010-05-28 | Space five-freedom parallel machine tool |
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| CN101850519A true CN101850519A (en) | 2010-10-06 |
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| CN 201010185847 Pending CN101850519A (en) | 2010-05-28 | 2010-05-28 | Space five-freedom parallel machine tool |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103308338A (en) * | 2013-05-31 | 2013-09-18 | 北京航空航天大学 | Machine tool loading device and machine tool loading test method based on three-freedom-degree parallel mechanism |
| CN103465251A (en) * | 2013-09-03 | 2013-12-25 | 常州大学 | Five-degree-of-freedom three-translational two-rotational aerial work output rod manipulator |
| CN104526346A (en) * | 2014-12-19 | 2015-04-22 | 上海交通大学 | High voltage rotor vertical intelligent assembling equipment with compliance structure |
| CN104589021A (en) * | 2014-12-24 | 2015-05-06 | 上海交通大学 | High-pressure rotor horizontal type intelligent assembling device with compliant structure |
| CN108723801A (en) * | 2018-06-30 | 2018-11-02 | 郑州大学 | Five-freedom parallel machine tool with quadrilateral space structure |
| CN109049702A (en) * | 2018-08-02 | 2018-12-21 | 西安理工大学 | 3D printing system based on 6-PSS parallel institution |
| CN109049700A (en) * | 2018-08-02 | 2018-12-21 | 西安理工大学 | 3D printing system based on 4-PSS/PS parallel institution |
| CN110293247A (en) * | 2019-07-02 | 2019-10-01 | 电子科技大学 | The rigidity enhancement device and its control method of parallel connection type drilling machine |
| CN112621723A (en) * | 2020-12-22 | 2021-04-09 | 东南大学 | 5UPS-2RP (U) redundancy drive parallel robot |
| CN114833803A (en) * | 2022-05-10 | 2022-08-02 | 燕山大学 | Box type three-degree-of-freedom stable platform based on 3PSS-S parallel mechanism and posture adjusting method thereof |
| CN115741639A (en) * | 2022-11-16 | 2023-03-07 | 天津大学 | Six-branched-chain five-degree-of-freedom parallel processing robot for complex curved surface |
| CN116766164A (en) * | 2023-08-23 | 2023-09-19 | 太原理工大学 | High-rigidity five-degree-of-freedom parallel driving robot with multi-ring coupling branched chains |
| WO2024103758A1 (en) * | 2022-11-16 | 2024-05-23 | 天津大学 | Six-branch five-degree-of-freedom parallel machining robot |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103308338A (en) * | 2013-05-31 | 2013-09-18 | 北京航空航天大学 | Machine tool loading device and machine tool loading test method based on three-freedom-degree parallel mechanism |
| CN103465251A (en) * | 2013-09-03 | 2013-12-25 | 常州大学 | Five-degree-of-freedom three-translational two-rotational aerial work output rod manipulator |
| CN103465251B (en) * | 2013-09-03 | 2016-03-09 | 常州大学 | Work high above the ground take-off lever operator is rotated in a kind of five degree of freedom three translation two |
| CN104526346A (en) * | 2014-12-19 | 2015-04-22 | 上海交通大学 | High voltage rotor vertical intelligent assembling equipment with compliance structure |
| CN104589021A (en) * | 2014-12-24 | 2015-05-06 | 上海交通大学 | High-pressure rotor horizontal type intelligent assembling device with compliant structure |
| CN104589021B (en) * | 2014-12-24 | 2016-10-05 | 上海交通大学 | There is the horizontal intelligent assembling equipment of high pressure rotor complying with structure |
| CN108723801A (en) * | 2018-06-30 | 2018-11-02 | 郑州大学 | Five-freedom parallel machine tool with quadrilateral space structure |
| CN109049702A (en) * | 2018-08-02 | 2018-12-21 | 西安理工大学 | 3D printing system based on 6-PSS parallel institution |
| CN109049700A (en) * | 2018-08-02 | 2018-12-21 | 西安理工大学 | 3D printing system based on 4-PSS/PS parallel institution |
| CN109049702B (en) * | 2018-08-02 | 2021-09-10 | 西安理工大学 | 3D printing system based on 6-PSS parallel mechanism |
| CN110293247B (en) * | 2019-07-02 | 2020-05-22 | 电子科技大学 | Rigidity enhancing device of parallel drilling machine and control method thereof |
| CN110293247A (en) * | 2019-07-02 | 2019-10-01 | 电子科技大学 | The rigidity enhancement device and its control method of parallel connection type drilling machine |
| CN112621723A (en) * | 2020-12-22 | 2021-04-09 | 东南大学 | 5UPS-2RP (U) redundancy drive parallel robot |
| CN112621723B (en) * | 2020-12-22 | 2022-06-14 | 东南大学 | 5UPS-2RP (U) redundancy drive parallel robot |
| CN114833803A (en) * | 2022-05-10 | 2022-08-02 | 燕山大学 | Box type three-degree-of-freedom stable platform based on 3PSS-S parallel mechanism and posture adjusting method thereof |
| CN114833803B (en) * | 2022-05-10 | 2023-11-10 | 燕山大学 | Box type three-degree-of-freedom stable platform based on 3PSS-S parallel mechanism and posture adjustment method thereof |
| CN115741639A (en) * | 2022-11-16 | 2023-03-07 | 天津大学 | Six-branched-chain five-degree-of-freedom parallel processing robot for complex curved surface |
| WO2024103758A1 (en) * | 2022-11-16 | 2024-05-23 | 天津大学 | Six-branch five-degree-of-freedom parallel machining robot |
| CN116766164A (en) * | 2023-08-23 | 2023-09-19 | 太原理工大学 | High-rigidity five-degree-of-freedom parallel driving robot with multi-ring coupling branched chains |
| CN116766164B (en) * | 2023-08-23 | 2023-10-20 | 太原理工大学 | High-rigidity five-degree-of-freedom parallel driving robot with multi-ring coupling branched chains |
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Open date: 20101006 |