CN103465252A - Five-branched-chain five-degree-of-freedom parallel machine tool mechanism - Google Patents
Five-branched-chain five-degree-of-freedom parallel machine tool mechanism Download PDFInfo
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- CN103465252A CN103465252A CN2013103966480A CN201310396648A CN103465252A CN 103465252 A CN103465252 A CN 103465252A CN 2013103966480 A CN2013103966480 A CN 2013103966480A CN 201310396648 A CN201310396648 A CN 201310396648A CN 103465252 A CN103465252 A CN 103465252A
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Abstract
A five-branched-chain five-degree-of-freedom parallel machine tool mechanism comprises a rack, a first driving branched chain, a second driving branched chain, a third driving branched chain, a fourth driving branched chain, a fifth driving constraint branched chain and a movable platform. The first driving branched chain, the second driving branched chain, the third driving branched chain, the fourth driving branched chain, the fifth driving constraint branched chain jointly drive the movable platform to perform special five-degree-of-freedom movement. The five-branched-chain five-degree-of-freedom parallel machine tool mechanism is simple in structure, lightweight of moving components, good in rigidity, small in inertial property and good in dynamics performance.
Description
Technical field
The present invention relates to machine tool field, particularly a kind of five side chain five-freedom parallel machine tool mechanisms.
Background technology
With serial mechanism, compare, parallel institution has the advantages such as precision is high, compact conformation, rigidity is high, bearing capacity is strong.Therefore, since the nineties in last century, lot of domestic and foreign scholar has carried out the research and development of parallel machine.Wherein mostly concentrate on 3DOF and 6DOF, and the machine components of processed complex only need 5 frees degree just enough.So six-degree-of-freedom parallel connection mechanism is applied on lathe will a unnecessary free degree, this is obviously a kind of unnecessary waste; And the parallel institution of Three Degree Of Freedom has been that complicated task just must be by the motion of other two frees degree, this will make the advantage of parallel institution have a greatly reduced quality.Therefore, to be applied to lathe be very significant to the parallel institution of research five degree of freedom.The five-freedom parallel machine tool of researching and developing now all realizes by five additional constrained branched chains of active branched chain, and like this lathe realizes that the motion of five degree of freedom needs six side chains to complete, as patent ZL02104943.2.The present invention adopts novel 4-PUS/PUU parallel institution to realize the five degree of freedom motion of lathe, and this configuration only needs four actives without the additional active constrained branched chain of constrained branched chain.Therefore, adopt the parallel machine of this configuration can save a side chain, make the structure of lathe simpler, the moving link quality alleviates more than 17%, and its kinematics and dynamics performance is more superior.
Summary of the invention
The object of the present invention is to provide a kind of five side chain five-freedom parallel machine tool mechanisms, can simplify the structure of existing five-freedom parallel machine tool, alleviate the moving link quality more than 17%, make its kinematics and dynamics performance more superior.
The present invention achieves the above object by the following technical programs: a kind of five side chain five-freedom parallel machine tool mechanisms comprise frame, the first active branched chain, the second active branched chain, the 3rd active branched chain, the 4th active branched chain, the 5th initiatively constrained branched chain and moving platform.
Described the first active branched chain is comprised of the first active sliding block and first connecting rod, the first active sliding block is slided on frame by the first moving sets, the first active sliding block other end drives the first connecting rod motion by the first Hooke's hinge, and the first connecting rod other end drives the moving platform motion by the first ball pivot.
Described the second active branched chain is comprised of the second active sliding block and second connecting rod, the second active sliding block is slided on frame by the second moving sets, the second active sliding block other end drives the second connecting rod motion by the second Hooke's hinge, and the second connecting rod other end drives the moving platform motion by the second ball pivot.
Described the 3rd active branched chain is comprised of the 3rd active sliding block and second connecting rod, the 3rd active sliding block is slided on frame by three moving sets, the 3rd active sliding block other end drives the third connecting rod motion by the 3rd Hooke's hinge, and the third connecting rod other end drives the moving platform motion by the 3rd ball pivot.
Described the 4th active branched chain is comprised of the 4th active sliding block and the 4th connecting rod, the 4th active sliding block is slided on frame by the 4th moving sets, the 4th active sliding block other end drives the 4th link motion by the 4th Hooke's hinge, and the 4th connecting rod other end drives the moving platform motion by the 4th ball pivot.
Described the 5th active branched chain is comprised of the 5th active sliding block and the 5th connecting rod, the 5th active sliding block is slided on frame by the 5th moving sets, the 5th active sliding block other end drives the 5th link motion by the 5th Hooke's hinge, and the 5th connecting rod other end drives the moving platform motion by the 6th Hooke's hinge.
The motion of described five active sliding block can drive by five connecting rods the motion of moving platform implementation space five degree of freedom.
Outstanding advantages of the present invention is:
1, adopt parallel-connection structure, rod member is made lighter bar, and mechanism is lightweight, good rigidly;
2, side chain quantity is few, and the machine tool motion member is few, inertia is little, the kinematics and dynamics performance is good;
3, different end effectors is installed on moving platform, this mechanism may be used on assembling, welding, attitude adjustment and positioning equipment, laser, the field such as medical.
The accompanying drawing explanation
The first structural representation that Fig. 1 is a kind of five side chain five-freedom parallel machine tool mechanisms of the present invention.
The second structural representation that Fig. 2 is a kind of five side chain five-freedom parallel machine tool mechanisms of the present invention.
The 3rd structural representation that Fig. 3 is a kind of five side chain five-freedom parallel machine tool mechanisms of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, a kind of five side chain five-freedom parallel machine tool mechanisms, comprise frame 1, the first active branched chain, the second active branched chain, the 3rd active branched chain, the 4th active branched chain, the 5th initiatively constrained branched chain and moving platform 27.
Described the first active branched chain is comprised of the first active sliding block 2 and first connecting rod 17, the first active sliding block 2 is by 1 slip on frame of the first moving sets 7, first active sliding block 2 other ends drive first connecting rod 17 motions by the first Hooke's hinge 12, and first connecting rod 17 other ends drive moving platform 27 motions by the first ball pivot 22.
Described the second active branched chain is comprised of the second active sliding block 3 and second connecting rod 18, the second active sliding block 3 is slided on frame 1 by the second moving sets 8, second active sliding block 3 other ends drive second connecting rod 18 motions by the second Hooke's hinge 13, and second connecting rod 18 other ends drive moving platform 27 motions by the second ball pivot 23.
Described the 3rd active branched chain is comprised of the 3rd active sliding block 4 and second connecting rod 19, the 3rd active sliding block 4 is slided on frame 1 by three moving sets 9, the 3rd active sliding block 4 other ends drive third connecting rod 19 motions by the 3rd Hooke's hinge 14, and third connecting rod 19 other ends drive moving platform 27 motions by the 3rd ball pivot 24.
Described the 4th active branched chain is comprised of the 4th active sliding block 5 and the 4th connecting rod 20, the 4th active sliding block 5 is slided on frame 1 by the 4th moving sets 10, the 4th active sliding block 5 other ends drive the 4th connecting rod 20 motions by the 4th Hooke's hinge 15, and the 4th connecting rod 20 other ends drive moving platform 27 motions by the 4th ball pivot 25.
Described the 5th active branched chain is comprised of the 5th active sliding block 6 and the 5th connecting rod 21, the 5th active sliding block 6 is slided on frame 1 by the 5th moving sets 11, the 5th active sliding block 6 other ends drive the 5th connecting rod 21 motions by the 5th Hooke's hinge 16, and the 5th connecting rod 21 other ends drive moving platform 27 motions by the 6th Hooke's hinge 26.
The routing motion of described the first active sliding block 2, the first active sliding block 3, the first active sliding block 4, the first active sliding block 5, the first active sliding block 6 can pass through first connecting rod 17, second connecting rod 18, third connecting rod 19, the 4th connecting rod 20, the 5th connecting rod 21, drive the motion of moving platform 27 implementation space five degree of freedom.
Claims (1)
1. a side chain five-freedom parallel machine tool mechanism, comprise frame, the first active branched chain, the second active branched chain, the 3rd active branched chain, the 4th active branched chain, the 5th initiatively constrained branched chain and moving platform, it is characterized in that:
Described the first active branched chain is comprised of the first active sliding block and first connecting rod, the first active sliding block one end connects with frame by the first moving sets, the first active sliding block other end connects with first connecting rod by the first Hooke's hinge, and the first connecting rod other end connects with moving platform by the first ball pivot
Described the second active branched chain is comprised of the second active sliding block and second connecting rod, the second active sliding block one end connects with frame by the second moving sets, the second active sliding block other end connects with second connecting rod by the second Hooke's hinge, and the second connecting rod other end connects with moving platform by the second ball pivot
Described the 3rd active branched chain is comprised of the 3rd active sliding block and third connecting rod, the 3rd active sliding block one end connects with frame by three moving sets, the 3rd active sliding block other end connects with third connecting rod by the 3rd Hooke's hinge, and the third connecting rod other end connects with moving platform by the 3rd ball pivot
Described the 4th active branched chain is comprised of the 4th active sliding block and the 4th connecting rod, the 4th active sliding block one end connects with frame by the 4th moving sets, the 4th active sliding block other end connects with the 4th connecting rod by the 4th Hooke's hinge, and the 4th connecting rod other end connects with moving platform by the 4th ball pivot
Described the 5th active constrained branched chain is comprised of the 5th active sliding block and the 5th connecting rod, the 5th active sliding block one end connects with frame by the 5th moving sets, the 5th active sliding block other end connects with the 5th connecting rod by the 5th Hooke's hinge, and the 5th connecting rod other end connects with moving platform by the 6th Hooke's hinge.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798635A (en) * | 2016-05-18 | 2016-07-27 | 哈尔滨工业大学 | Few-acting point five-degree-of-freedom parallel mechanism including independent double-output composite universal joint |
| CN107009350A (en) * | 2017-04-28 | 2017-08-04 | 河南理工大学 | A kind of determination method of 3 PRS serial parallel mechanism equivalent mass |
| CN107717499A (en) * | 2017-11-07 | 2018-02-23 | 广西大学 | A kind of six degree of freedom via Self-reconfiguration becomes cell type parallel machine |
| CN108608063A (en) * | 2018-04-02 | 2018-10-02 | 中国矿业大学 | A kind of five axis optical fabrication equipment in parallel |
| CN108705410A (en) * | 2018-04-20 | 2018-10-26 | 中国矿业大学 | A kind of co-melting robot large optical mirror process unit of multi-parallel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107009350A (en) * | 2017-04-28 | 2017-08-04 | 河南理工大学 | A kind of determination method of 3 PRS serial parallel mechanism equivalent mass |
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| CN108608063A (en) * | 2018-04-02 | 2018-10-02 | 中国矿业大学 | A kind of five axis optical fabrication equipment in parallel |
| CN108608063B (en) * | 2018-04-02 | 2019-07-19 | 中国矿业大学 | A kind of five axis optical fabrication equipment in parallel |
| CN108705410A (en) * | 2018-04-20 | 2018-10-26 | 中国矿业大学 | A kind of co-melting robot large optical mirror process unit of multi-parallel |
| CN108705410B (en) * | 2018-04-20 | 2019-07-19 | 中国矿业大学 | A kind of co-melting robot large optical mirror process unit of multi-parallel |
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Application publication date: 20131225 |