CN103753234A - Novel multi-axis linkage device - Google Patents
Novel multi-axis linkage device Download PDFInfo
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- CN103753234A CN103753234A CN201410001489.4A CN201410001489A CN103753234A CN 103753234 A CN103753234 A CN 103753234A CN 201410001489 A CN201410001489 A CN 201410001489A CN 103753234 A CN103753234 A CN 103753234A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/64—Movable or adjustable work or tool supports characterised by the purpose of the movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
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Abstract
The invention belongs to the technical field of numerical control equipment manufacture, and relates to a novel multi-axis linkage hybrid device comprising a moving platform and a fixed platform which are used for mounting an executer and a third branch chain connecting the moving platform and the fixed platform. The third branch chain comprises a kinematic pair which drives actively. The novel multi-axis linkage device is characterized by further comprising a first and second branch chains, in the same structures, which connects between the moving platform and the fixed platform; the first and second branch chains both comprise two kinematic pairs which drive actively; the first, second and third branch chain are respectively connected to the moving platform and the fixed platform to form a spatial parallel loop mechanism, the moving platform are driven through five input motions to move, and three moving and two rotating degrees of freedom are achieved; the device further comprises an annular guide rail or workbench, and the spatial parallel loop mechanism and the annular guide rail or workbench form a hybrid device capable of realizing six-axis linkage. The output motion with five degrees of freedom can be realized through the three branch chain structure, structure is compact, and kinematics is simple.
Description
Technical field
The invention belongs to mechanical manufacturing field, particularly a kind of portable multi-shaft interlocked device of Novel moveable that can be applied to numerical control device manufacture field.
Background technology
In mechanical manufacturing field, along with the design of modern parts is more and more advanced, processing technology becomes increasingly complex, large space free form surface type component has been widely used in each emphasis key area, as Aero-Space, automobile, marine propeller, turbo blade etc.This type of application requirements is manufactured process equipment and can realize the working ability of five-axle linkage, requires process equipment to realize to be once installed five processing under operating mode exacting terms.In brief, modern process equipment should have better processing flexibility, rotate flexibility and higher working (machining) efficiency.Along with the maximization of part and the maintenance of main equipment, some parts or main equipment cannot move to the workbench of process unit, and need process equipment to be arranged to processing site, and then require process equipment to have the characteristics such as removable and portable.For above application demand, the modularized design of process unit just becomes and meets a kind of effective way of the demand.And the modular design of five axles or multi-shaft interlocked equipment is very challenging.
Parallel institution owing to thering is compact conformation, heavy moving parts is little, rigidity is high, dynamic response characteristic is good, on Unit Weight bearing capacity large, be easy to realize the advantages such as high-speed motion and become the ideal chose of modularized design.Parallel institution refers to the closed loop that consists of two or more kinematics side chains the mechanism that can control terminal realizes certain output movement.In recent years, lower-mobility parallel institution (number of degrees of freedom, is less than the parallel institution of six degree of freedom) owing to easily realizing larger working space (especially rotation work space), be convenient to the characteristics such as modularization and be more and more subject to researcher's attention and favor, five-freedom parallel structure is the maximum class of the free degree in lower-mobility parallel institution.And the strong five-freedom parallel structure of engineering practicability is few.At present the best full parallel connection equipment of five degree of freedom of effect is to be realized the vertical sleeping five-axle linkages of changing and equip through research and development in more than ten years are successfully a series of by German Metrom company, as PM1400 wherein etc.This equipment adopts modularized design, has realized packaged type and portable concept.
At Metrom, obtain the above-mentioned successful while, still exist key technology problems to need to solve, the kinematics and the structural complexity that bring as five side chains, and then the problem such as the mechanical interference causing and rigidity.In order to address the above problem and propose five more desirable axle module schemes, the present invention proposes a kind of five-freedom parallel structure and corresponding multi-shaft interlocked device based on three branched structures, can realize the nearly interlock control of six axles of at least five axles.
Summary of the invention
The object of the invention is, for the processing of large complicated free form surface parts provides better principle configuration and solution, to propose a kind of Novel multi-shaft linkage of Portable movable.The Novel multi-shaft linkage that the present invention proposes can be realized the nearly interlock control of six axles of at least five axles.
A kind of Novel multi-shaft linkage that the present invention proposes, comprises moving platform and a fixed platform that actuator is installed, and connects the 3rd side chain between described moving platform and fixed platform; The kinematic pair that the 3rd side chain contains an active drive; It is characterized in that: this device also comprises first, second side chain connecting between described moving platform and fixed platform, and this first, second branched structure is identical, all contains the kinematic pair of two active drive; Described first, second, and third side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives moving platform motion by five input motions, realizes three one-movement-freedom-degrees and two rotational freedoms; This device also can comprise the workbench of a ring-shaped guide rail or an installation workpiece to be machined, and described Spatial Parallel close loop mechanism and this ring-shaped guide rail or workbench form a multi-axes synchronous hybrid device, and this synchronous hybrid device can be realized the nearly interlock campaign of six axles.
Feature of the present invention and technique effect
A kind of Novel multi-shaft linkage of the present invention, adopt the version Special composition five degree of freedom close loop mechanism of three side chains, by five inputs, drive moving platform motion, realize three one-movement-freedom-degrees and two rotational freedoms, the output movement Shi Gai mechanism that adopts the version of three side chains to realize five frees degree is different from a distinguishing feature of other similar mechanism, its moving platform can be realized an outstanding advantages of larger rotation fan-out capability Shi Gai mechanism, in conjunction with ring-shaped guide rail or rotary table, adopt the version of series-parallel connection to obtain the nearly interlock control of six axles, can realize the multi-axis NC machining to complex free curved surface class part.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention 1.
Fig. 2 is the structural representation of the embodiment of the present invention 2.
Fig. 3 is the structural representation of the embodiment of the present invention 3.
Fig. 4 is the structural representation of the embodiment of the present invention 4.
Fig. 5 is the structural representation of the embodiment of the present invention 5.
Fig. 6 is the structural representation of the embodiment of the present invention 6.
Fig. 7 is the present invention's the 3rd branched structure schematic diagram.
The specific embodiment
A kind of Novel multi-shaft linkage of the present invention by reference to the accompanying drawings and embodiment be described in detail as follows:
A kind of Novel multi-shaft linkage that the present invention proposes, comprises moving platform and a fixed platform that actuator is installed, and connects the 3rd side chain between described moving platform and fixed platform; The kinematic pair that the 3rd side chain contains an active drive; It is characterized in that: this device also comprises first, second side chain connecting between described moving platform and fixed platform, and this first, second branched structure is identical, all contains the kinematic pair of two active drive; Described first, second, and third side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives moving platform motion by five input motions, realizes three one-movement-freedom-degrees and two rotational freedoms; This device also can comprise the workbench of a ring-shaped guide rail or an installation workpiece to be machined, and described Spatial Parallel close loop mechanism and this ring-shaped guide rail or workbench form a multi-axes synchronous hybrid device, and this synchronous hybrid device can be realized the nearly interlock campaign of six axles.
A kind of Novel multi-shaft linkage of the present invention, is described as follows:
First, second side chain includes: upper connector, lower connector, top shoe, fast, the upper connecting rod of downslide, lower link, U-shaped, contiguous block and kinematic pair.Described kinematic pair has ten, one is the revolute pair being connected between fixed platform and lower connector, one is the revolute pair being connected between lower connector and sliding block, one is the moving sets being connected between sliding block and lower link, one is the revolute pair being connected between fixed platform and upper connector, one is the revolute pair being connected between upper connector and top shoe, one is the moving sets being connected between top shoe and upper connecting rod, one is the revolute pair being connected between connecting rod and lower link, one is the revolute pair between being connected in connecting rod and U-shaped, one is the revolute pair between being connected in U-shaped and contiguous block, another is the revolute pair being connected between contiguous block and moving platform.Wherein, be connected in the moving sets between top shoe and upper connecting rod and be connected in sliding block and lower link between moving sets be driven; Two revolute pairs that are connected between fixed platform and upper connector and be connected between upper connector and top shoe can be replaced by a Hooke's hinge or a ball pivot; Two revolute pairs that are connected between fixed platform and lower connector and be connected between lower connector and sliding block can be replaced by a Hooke's hinge or a ball pivot; Be connected between connecting rod and U-shaped, be connected between U-shaped and contiguous block and three revolute pairs that are connected between contiguous block and moving platform can be replaced by a ball pivot.
The 3rd side chain comprises: connector, slide block, connecting rod and kinematic pair.Described kinematic pair has four, one is the revolute pair being connected between fixed platform and connector, one is the revolute pair being connected between connector and slide block, and one is the cylindrical pair being connected between slide block and connecting rod, and another is the revolute pair being connected between connecting rod and moving platform.Wherein, between slide block and connecting rod, along the stretching motion of bar length direction, be driven; Two revolute pairs that are connected between fixed platform and connector and be connected between connector and slide block can be replaced by a Hooke's hinge or a ball pivot; The cylindrical pair being connected between slide block and connecting rod can be replaced by a moving sets and a revolute pair, and this moving sets is driven.
This multi-shaft interlocked device can comprise: turntable and kinematic pair.Described kinematic pair has one, and for being connected in the revolute pair between fixed platform and turntable, and this revolute pair is driven.
This multi-shaft interlocked device also can comprise: ring-shaped guide rail and kinematic pair.Described kinematic pair has one, and for being connected in the revolute pair between fixed platform and ring-shaped guide rail, and this revolute pair is driven.
Embodiment 1:
The structure of a kind of Novel multi-shaft linkage of the present embodiment as shown in Figure 1, comprise fixed platform 18, moving platform 12 and first, second, third side chain, described three side chains are connected between fixed platform 18 and moving platform 12, and with this fixed platform 18 and moving platform 12 Special composition close loop mechanisms.
Described first, second side chain includes: upper connector 17, lower connector 19, top shoe 16, fast 110, the upper connecting rod 112 of gliding, lower link 111, U-shaped 113, contiguous block 11 and kinematic pair.Described kinematic pair has ten, one is the revolute pair being connected between fixed platform 18 and lower connector 19, one is the revolute pair being connected between lower connector 19 and sliding block 110, one is the moving sets being connected between sliding block 110 and lower link 111, one is the revolute pair being connected between fixed platform 18 and upper connector 17, one is the revolute pair being connected between upper connector 17 and top shoe 16, one is the moving sets being connected between top shoe 16 and upper connecting rod 112, one is the revolute pair being connected between connecting rod 112 and lower link 111, one is the revolute pair between being connected in connecting rod 112 and U-shaped 113, one is the revolute pair between being connected in U-shaped 113 and contiguous block 11, another is the revolute pair being connected between contiguous block 11 and moving platform 12.Wherein, be connected in the moving sets between top shoe 16 and upper connecting rod 112 and be connected in sliding block 110 and lower link 111 between moving sets be driven; Two revolute pairs that are connected between fixed platform 18 and upper connector 17 and be connected between upper connector 17 and top shoe 16 can be replaced by a Hooke's hinge or a ball pivot; Two revolute pairs that are connected between fixed platform 18 and lower connector 19 and be connected between lower connector 19 and sliding block 110 can be replaced by a Hooke's hinge or a ball pivot; Be connected between connecting rod 112 and U-shaped 113, be connected between U-shaped 113 and contiguous block 11 and three revolute pairs that are connected between contiguous block 11 and moving platform 12 can be replaced by a ball pivot.
Described the 3rd side chain comprises: connector 15, slide block 14, connecting rod 13 and kinematic pair.Described kinematic pair has four, one is the revolute pair being connected between fixed platform 18 and connector 15, one is the revolute pair being connected between connector 15 and slide block 14, one is the cylindrical pair being connected between slide block 14 and connecting rod 13, and another is the revolute pair being connected between connecting rod 13 and moving platform 12.Wherein, between slide block 14 and connecting rod 13, along the stretching motion of bar length direction, be driven; Two revolute pairs that are connected between fixed platform 18 and connector 15 and be connected between connector 15 and slide block 14 can be replaced by a Hooke's hinge or a ball pivot; The cylindrical pair being connected between slide block 14 and connecting rod 13 can be replaced by a moving sets and a revolute pair, and this moving sets is driven.
This multi-shaft interlocked device can be realized the five-axle linkage control of three one-movement-freedom-degrees and two rotational freedoms.
Embodiment 2:
As shown in Figure 2, the difference of this multi-shaft interlocked device and embodiment 1 is the structure of a kind of Novel multi-shaft linkage of the present embodiment: this multi-shaft interlocked device also comprises turntable 21 and kinematic pair.Described kinematic pair has one, and for being connected in the revolute pair between fixed platform 22 and turntable 21, and this revolute pair is driven.This device can be realized the six-axis control of three one-movement-freedom-degrees and three rotational freedoms.
Embodiment 3:
As shown in Figure 3, the difference of this multi-shaft interlocked device and embodiment 1 is the structure of a kind of Novel multi-shaft linkage of the present embodiment: this multi-shaft interlocked device also comprises ring-shaped guide rail 31 and kinematic pair.Described kinematic pair has one, and for being connected in the revolute pair between fixed platform 32 and ring-shaped guide rail 31, and this revolute pair is driven.This device can be realized the six-axis control of three one-movement-freedom-degrees and three rotational freedoms.
Embodiment 4:
As shown in Figure 4, it is different that this multi-shaft interlocked device and the difference of embodiment 1 are to be connected in first, second side chain revolute pair axis direction between moving platform 41 and contiguous block 42 to the structure of a kind of Novel multi-shaft linkage of the present embodiment.This Novel multi-shaft linkage can be realized the five-axle linkage control of three one-movement-freedom-degrees and two rotational freedoms.
Embodiment 5:
As shown in Figure 5, the difference of this multi-shaft interlocked device and embodiment 4 is the structure of a kind of Novel multi-shaft linkage of the present embodiment: this multi-shaft interlocked device also comprises turntable 51 and kinematic pair.Described kinematic pair has one, and for being connected in the revolute pair between fixed platform 52 and turntable 51, and this revolute pair is driven.This device can be realized the six-axis control of three one-movement-freedom-degrees and three rotational freedoms.
Embodiment 6:
As shown in Figure 6, the difference of this multi-shaft interlocked device and embodiment 4 is the structure of a kind of Novel multi-shaft linkage of the present embodiment: this multi-shaft interlocked device also comprises ring-shaped guide rail 61 and kinematic pair.Described kinematic pair has one, and for being connected in the revolute pair between fixed platform 62 and ring-shaped guide rail 61, and this revolute pair is driven.This device can be realized the six-axis control of three one-movement-freedom-degrees and three rotational freedoms.
Described in each embodiment, the structure of the 3rd side chain also can movement branched chain as shown in Figure 7 realize above, and this side chain comprises connector 74, slide block 73, connecting rod 72, U-shaped 71 and kinematic pair.Described kinematic pair has three, and one is the revolute pair being connected between connector 74 and slide block 73, and one is the moving sets being connected between slide block 73 and connecting rod 72, and another is the revolute pair being connected between connecting rod 72 and U-shaped 71.Wherein, the moving sets being connected between slide block 73 and connecting rod 72 is driven.
Claims (5)
1. a Novel multi-shaft linkage series-parallel device, comprises moving platform and a fixed platform that actuator is installed, and connects the 3rd side chain between described moving platform and fixed platform; The kinematic pair that the 3rd side chain contains an active drive; It is characterized in that: this device also comprises first, second side chain connecting between described moving platform and fixed platform, and this first, second branched structure is identical, all contains the kinematic pair of two active drive; Described first, second, and third side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives moving platform motion by five input motions, realizes three one-movement-freedom-degrees and two rotational freedoms.
2. a kind of Novel multi-shaft linkage as claimed in claim 1, is characterized in that, described first, second side chain includes: upper connector, lower connector, top shoe, fast, the upper connecting rod of downslide, lower link, U-shaped, contiguous block and kinematic pair.Described kinematic pair has ten, one is the revolute pair being connected between fixed platform and lower connector, one is the revolute pair being connected between lower connector and sliding block, one is the moving sets being connected between sliding block and lower link, one is the revolute pair being connected between fixed platform and upper connector, one is the revolute pair being connected between upper connector and top shoe, one is the moving sets being connected between top shoe and upper connecting rod, one is the revolute pair being connected between connecting rod and lower link, one is the revolute pair between being connected in connecting rod and U-shaped, one is the revolute pair between being connected in U-shaped and contiguous block, another is the revolute pair being connected between contiguous block and moving platform.Wherein, be connected in the moving sets between top shoe and upper connecting rod and be connected in sliding block and lower link between moving sets be driven; Two revolute pairs that are connected between fixed platform and upper connector and be connected between upper connector and top shoe can be replaced by a Hooke's hinge or a ball pivot; Two revolute pairs that are connected between fixed platform and lower connector and be connected between lower connector and sliding block can be replaced by a Hooke's hinge or a ball pivot; Be connected between connecting rod and U-shaped, be connected between U-shaped and contiguous block and three revolute pairs that are connected between contiguous block and moving platform can be replaced by a ball pivot.
3. a kind of Novel multi-shaft linkage as claimed in claim 1, is characterized in that, described the 3rd side chain comprises: connector, slide block, connecting rod and kinematic pair.Described kinematic pair has four, one is the revolute pair being connected between fixed platform and connector, one is the revolute pair being connected between connector and slide block, and one is the cylindrical pair being connected between slide block and connecting rod, and another is the revolute pair being connected between connecting rod and moving platform.Wherein, between slide block and connecting rod, along the stretching motion of bar length direction, be driven; Two revolute pairs that are connected between fixed platform and connector and be connected between connector and slide block can be replaced by a Hooke's hinge or a ball pivot; The cylindrical pair being connected between slide block and connecting rod can be replaced by a moving sets and a revolute pair, and this moving sets is driven.
4. a kind of Novel multi-shaft linkage as claimed in claim 1, is characterized in that, this multi-shaft interlocked device also can comprise: turntable and kinematic pair.Described kinematic pair has one, and for being connected in the revolute pair between fixed platform and turntable, and this revolute pair is driven.This device can be realized the six-axis control of three one-movement-freedom-degrees and three rotational freedoms.
5. a kind of Novel multi-shaft linkage as claimed in claim 1, is characterized in that, this multi-shaft interlocked device also can comprise: ring-shaped guide rail and kinematic pair.Described kinematic pair has one, and for being connected in the revolute pair between fixed platform and ring-shaped guide rail, and this revolute pair is driven.This device can be realized the six-axis control of three one-movement-freedom-degrees and three rotational freedoms.
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| CN201410001489.4A CN103753234B (en) | 2014-01-03 | 2014-01-03 | A kind of multi-axis linkages |
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| CN106090166A (en) * | 2016-06-14 | 2016-11-09 | 北京工业大学 | A kind of movement transforming device based on spatial linkage |
| CN107553470A (en) * | 2017-10-11 | 2018-01-09 | 清华大学 | Parallel institution and its expansion multi-axis linkages with five degree of freedom |
| CN108608407A (en) * | 2018-04-11 | 2018-10-02 | 清华大学 | A kind of multi-shaft interlocked robot of telescopic formula |
| CN108608401A (en) * | 2018-04-11 | 2018-10-02 | 清华大学 | A kind of rail mounted large span telescopic machining robot |
| CN108621114A (en) * | 2018-04-11 | 2018-10-09 | 清华大学 | A kind of mobile robot towards large-sized structural parts processing |
| CN108621128A (en) * | 2018-04-11 | 2018-10-09 | 清华大学 | A kind of a wide range of mobile machining robot positioned and posture is adjusted flexibly |
| CN108890627A (en) * | 2018-08-02 | 2018-11-27 | 北京交通大学 | A kind of five-freedom parallel structure of the branch containing closed loop |
| WO2019071465A1 (en) * | 2017-10-11 | 2019-04-18 | 清华大学 | Parallel manipulator having five degrees of freedom, and multi-axis machining device developed therefrom |
| CN112548318A (en) * | 2020-12-18 | 2021-03-26 | 清华大学 | Friction stir welding device |
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| WO2019071465A1 (en) * | 2017-10-11 | 2019-04-18 | 清华大学 | Parallel manipulator having five degrees of freedom, and multi-axis machining device developed therefrom |
| CN107553470A (en) * | 2017-10-11 | 2018-01-09 | 清华大学 | Parallel institution and its expansion multi-axis linkages with five degree of freedom |
| CN108621114B (en) * | 2018-04-11 | 2020-12-01 | 清华大学 | Mobile robot for processing large-scale structural member |
| CN108621114A (en) * | 2018-04-11 | 2018-10-09 | 清华大学 | A kind of mobile robot towards large-sized structural parts processing |
| CN108621128A (en) * | 2018-04-11 | 2018-10-09 | 清华大学 | A kind of a wide range of mobile machining robot positioned and posture is adjusted flexibly |
| CN108608401A (en) * | 2018-04-11 | 2018-10-02 | 清华大学 | A kind of rail mounted large span telescopic machining robot |
| CN108608401B (en) * | 2018-04-11 | 2020-12-01 | 清华大学 | Rail-mounted large-span foldable machining robot |
| CN108608407A (en) * | 2018-04-11 | 2018-10-02 | 清华大学 | A kind of multi-shaft interlocked robot of telescopic formula |
| CN108621128B (en) * | 2018-04-11 | 2020-12-01 | 清华大学 | Mobile machining robot capable of achieving large-range positioning and flexible posture adjustment |
| CN108890627A (en) * | 2018-08-02 | 2018-11-27 | 北京交通大学 | A kind of five-freedom parallel structure of the branch containing closed loop |
| CN112548318A (en) * | 2020-12-18 | 2021-03-26 | 清华大学 | Friction stir welding device |
| CN112548318B (en) * | 2020-12-18 | 2021-12-21 | 清华大学 | Friction stir welding device |
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