CN104625767B - Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space - Google Patents
Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space Download PDFInfo
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- CN104625767B CN104625767B CN201510009279.4A CN201510009279A CN104625767B CN 104625767 B CN104625767 B CN 104625767B CN 201510009279 A CN201510009279 A CN 201510009279A CN 104625767 B CN104625767 B CN 104625767B
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- hinge
- connecting rod
- freedom
- slide block
- space
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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
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
- B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space. The parallel mechanism comprises a movable platform in the shape of an equilateral triangle, a static platform in the shape of an equilateral triangle and three branch chains connecting the movable platform and the static platform. Each branch chain comprises a connecting rod, one end of each connecting rod is connected with one corner of the movable platform through a first hinge with two rotation degrees of freedom, and the inner side of each connecting rod is provided with a linear guide rail. A sliding block is arranged on each linear guide rail in a sliding mode, a driving device for driving the corresponding sliding block to move on the corresponding linear guide rail is firmly fixed to and connected to each branch chain, and each sliding block is connected with one corner of the static platform through a second hinge with two rotation degrees of freedom.
Description
Technical field
The present invention relates to a kind of space two that has being applied to hybrid CNC machine tool rotates the parallel connection with a translational degree of freedom
Mechanism, belongs to mechanical manufacturing field.
Background technology
Parallel institution has that compact conformation, modular capability be good, rigidity mass ratio is big, and is easily achieved high-speed motion
Advantage, but parallel institution work space is limited, and typically require and be relatively difficult to ensure that the ball pivot of card must as it using machining accuracy
The kinematic pair wanted, this constrains its development in mechanical manufacturing field to a certain extent.In recent years, some are based on lower-mobility
The series-parallel connection manufacturing equipment of parallel institution has obtained successful Application in the industry, such as the five axle series-parallel connection processing based on tricept mechanism
Center, and the ecospeed five axle series-parallel connection machining center based on sprint z3 main tapping etc..Hybrid mechanism has serial mechanism work concurrently
Make space big and the advantages of parallel institution compact conformation, dynamic response characteristic are good, be capable of five axles connection of big work space
Dynamic high speed cuts Milling Machining, is suitably applied the processing of Space Free-Form Surface type component.
United States Patent (USP) us6431802 discloses a kind of space two rotation-translation parallel institution common at present, and it is
3prs configuration, is applied to series-parallel machine tool field.It is identical and be in that this parallel institution specifically includes silent flatform, moving platform and three structures
The side chain of axial symmetry distribution, each side chain includes moving sets, a rotation pair and a ball pivot successively；Wherein, moving sets
For driver element, coordinated with silent flatform by guide rail；Rotating secondary and ball pivot is passive unit, ball pivot connect corresponding connecting rod and
Moving platform.
Said mechanism employs that rotational angle is limited and precision is relatively difficult to ensure the ball pivot of card as kinematic pair, and this had both limited it
The angle range of end moving platform, is possible to produce uncertain impact to MECHANISM PRECISION again.
Content of the invention
For the problems referred to above, it is an object of the invention to provide one kind can be effectively increased moving platform pivot angle scope and ensure dynamic
The Spatial Parallel system of platform kinematic accuracy.
For achieving the above object, the present invention employs the following technical solutions: one kind has space two and rotates with a translation freely
Degree parallel institution it is characterised in that it include one be in equilateral triangle moving platform, one be in equilateral triangle silent flatform and
Three side chains connecting described moving platform and described silent flatform；Each side chain all includes a connecting rod, one end of described connecting rod
Connect an angle of described moving platform by a first axle with two rotational freedoms, in each described connecting rod
Side is respectively provided with a line slideway, is all mounted slidably a slide block on each described line slideway, on each described side chain
It is fastenedly connected one for driving the driving means of described slide block movement on described line slideway, each described slide block is all by one
The second hinge with two rotational freedoms connects an angle of described silent flatform.
All with a unfilled corner, three described unfilled corners define three uniform cloth for the position that three angles of described silent flatform are located
Put the platform in described silent flatform side, a u shape part is fastenedly connected on each described platform, described slide block passes through above-mentioned second
Two external parts of u shape part described in chain connection.
The pivot center near described silent flatform one end for the described second hinge is parallel with the thickness direction of described silent flatform, institute
State the pivot center near described slide block one end for the second hinge and the rotary shaft near described silent flatform one end for the described second hinge
Line is vertical, and vertical with the length direction of described connecting rod.
The pivot center near described connecting rod one end for the described first axle and described second hinge are near described slide block one
The pivot center at end is parallel, and the pivot center near described moving platform one end for the described first axle and described first axle are near institute
The pivot center stating connecting rod one end is vertical.
Described second hinge is a Hooke's hinge or is formed by two rotation secondary combinations.
Described first axle is a Hooke's hinge or is formed by two rotation secondary combinations.
Described driving means include a servomotor being fastenedly connected on described fixed mount, the output of described servomotor
End connects described slide block by a ball screw assembly,.
Described driving means include an elongated linear electric motor primary being fastenedly connected on described fixed mount, described straight
One straight line motor secondary is arranged on line electric motor primary, the secondary and described slide block of described linear electric motors is fastenedly connected.
Due to taking above technical scheme, it has the advantage that 1, moving platform of the present invention and silent flatform are in all to the present invention
Three angles of equilateral triangle, moving platform and silent flatform are corresponding to connect side chain, and three side chains are axisymmetricly distributed, and in side chain
Connecting rod on be fastenedly connected the driving means of slide block, decrease the transmission link between driving means and moving platform, can be effective
Reduce the power required for driving means and size, thus reducing quality and the inertia of whole parallel-connection structure.2nd, the present invention's is every
One end of one connecting rod is connected with moving platform by a first axle with two rotational freedoms, and each slide block passes through one to be had
The second hinge having two rotational freedoms is connected with silent flatform, whole fortune that parallel institution therefore of the present invention is comprised
Dynamic chain is all provided without ball pivot, and then ensure that moving platform is obtained in that higher angle range and preferable output accuracy.This
The bright five-axle linkage series-parallel connection numerical control machine that can be widely applied to, in five-axle linkage hybrid CNC machine tool, be developed on lathe of the present invention
Bed accessory has can be to efficient, the high accuracy working ability of complex free curved surface class part.
Brief description
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structural representation of side chain of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is described in detail.
As shown in figure 1, the present invention includes silent flatform 2 and that a moving platform 1, in equilateral triangle is in equilateral triangle
Three side chains 3 connecting moving platform 1 and silent flatform 2.
As shown in Figure 1 and Figure 2, each side chain 3 includes a connecting rod 4, and one end of connecting rod 4 has two rotations by one
The hinge 5 of degree of freedom connects an angle of moving platform 1, is respectively provided with a line slideway 6 in the inner side of each connecting rod 4, each
One slide block 7 is all mounted slidably on line slideway 6.Each side chain 3 is also fastenedly connected one be used for driving slide block 7 in straight line
The driving means moving on guide rail 6.Each slide block 7 all connects silent flatform 2 by a hinge 8 with two degree of freedom
One angle.
In above-described embodiment, the position at three angles place of silent flatform 2, all with a unfilled corner, defines three and is evenly arranged
In the platform of silent flatform 2 side, a u shape part 9 is all fastenedly connected on each platform, slide block 7 connects u shape part 9 by hinge 8
Two external parts.
Three identical side chains 3 of the present invention are connected one Spatial closed loop of formation with moving platform 1, silent flatform 2, pass through
The input motion of three slide blocks 7 drives moving platform 1 to move, and two rotational freedoms and a translation of realizing moving platform 1 are free
Degree.
In above-described embodiment, as shown in Figure 1 and Figure 2, the pivot center cc ' near silent flatform 2 one end for the hinge 8 and silent flatform 2
The axis op of through-thickness is parallel, and the pivot center aa ' near slide block 7 one end for the hinge 8 and hinge 8 are near silent flatform one end
Pivot center cc ' is vertical, and axis of symmetry axis ee ' along its length is vertical with connecting rod 4；Hinge 5 is near connecting rod 4 one end
Pivot center bb ' the pivot center aa ' near slide block 7 one end is parallel with hinge 8, hinge 5 is near the rotation of moving platform 1 one end
The pivot center bb ' near connecting rod 4 one end is vertical with hinge 5 for axis dd '.Two rotational freedoms that hinge 8 has can
With by two rotate secondary combinations form or a Hooke's hinge, but the pivot center aa ' of two rotational freedoms and
The direction of cc ' need to meet aforesaid restriction relation；Two rotational freedoms that hinge 5 has can be by two rotation secondary combinations
Form or a Hooke's hinge, but the direction of the pivot center bb ' of two rotational freedoms and dd ' need to meet aforementioned
Restriction relation.
In above-described embodiment, driving means can include a servomotor 10 being fastenedly connected in connecting rod 4, servo electricity
The outfan of machine 10 passes through a ball screw assembly, 11 connection sliding block 7.As a kind of distressed structure of driving means, it can also wrap
Include an elongated linear electric motor primary being fastenedly connected in connecting rod 4, linear electric motors are arranged on linear electric motor primary
Level, linear electric motors secondary is fastenedly connected with slide block 7.Certainly, in specific implementation process, using any one achievable phase other
Form with motor function is all possible.
The present invention utilizes two rotational freedoms between connecting rod 4 and moving platform 1 in every side chain 3, slide block 7 flat with quiet
Two rotational freedoms between platform 2, and a translational degree of freedom between slide block 7 and connecting rod 4, enable moving platform 1
Realize the space two rotation-translation motion with respect to silent flatform 2.Wherein, two rotational freedoms are x-axis and y in Fig. 1
Axle rotates, and a translational degree of freedom is the z-axis direction translation along along Fig. 1.Meanwhile, the present invention can adopt modularized design, can lead to
Cross series connection orthogonal with two mobile platform of the mechanical interface on silent flatform 2 to use cooperatively, and then constitute the series-parallel connection number of five-axle linkage
Control machining cell, wherein, part 12 in Fig. 1 is machine tool chief axis, and that can install that cutter completes workpiece to be added cuts milling task.
The present invention is only illustrated with above-described embodiment, and the structure of each part, set location and its connection are all to have
Changed, on the basis of technical solution of the present invention, all improvement individual part being carried out according to the principle of the invention and equivalent
Conversion, all should not exclude outside protection scope of the present invention.
Claims (8)
1. a kind of parallel institution with space two rotation and a translational degree of freedom is it is characterised in that it includes one is in equilateral three
Angular moving platform, one it is in the silent flatform of equilateral triangle and three side chains connecting described moving platforms and described silent flatform；
Each side chain all includes a connecting rod, and one end of described connecting rod is by a first axle with two rotational freedoms
Connect an angle of described moving platform, be respectively provided with a line slideway in the inner side of each described connecting rod, in each described straight line
One slide block is all mounted slidably on guide rail, each described side chain is fastenedly connected one and is used for driving described slide block described straight
The driving means of movement on line guide rail, each described slide block all connects institute by a second hinge with two rotational freedoms
State an angle of silent flatform；
The pivot center near described silent flatform one end for the described second hinge is parallel with the thickness direction of described silent flatform, and described
The pivot center near described slide block one end for the two hinge is hung down with the pivot center near described silent flatform one end for the described second hinge
Directly, and vertical with the length direction of described connecting rod.
2. as claimed in claim 1 a kind of have space two rotate and a translational degree of freedom parallel institution it is characterised in that
The position that three angles of described silent flatform are located all carries a unfilled corner, three described unfilled corners define three be evenly arranged in described in
The platform of silent flatform side, is fastenedly connected a u shape part on each described platform, and described slide block is connected by described second hinge
Two external parts of described u shape part.
3. as claimed in claim 1 a kind of have space two rotate and a translational degree of freedom parallel institution it is characterised in that
The pivot center near described connecting rod one end for the described first axle and the rotation near described slide block one end for the described second hinge
Diameter parallel, the pivot center near described moving platform one end for the described first axle and described first axle are near described connecting rod
The pivot center of one end is vertical.
4. as claimed in claim 1 or 2 a kind of have space two rotate and a translational degree of freedom parallel institution, its feature exists
In described second hinge is a Hooke's hinge or is formed by two rotation secondary combinations.
5. as claimed in claim 3 a kind of have space two rotate and a translational degree of freedom parallel institution it is characterised in that
Described first axle is a Hooke's hinge or is formed by two rotation secondary combinations.
6. a kind of parallel institution with space two rotation and a translational degree of freedom, its feature as described in claim 1 or 2 or 3
It is, described driving means include a servomotor being fastenedly connected in described connecting rod, the outfan of described servomotor
Described slide block is connected by a ball screw assembly,.
7. a kind of parallel institution with space two rotation and a translational degree of freedom, its feature as described in claim 1 or 2 or 3
It is, described driving means include an elongated linear electric motor primary being fastenedly connected in described connecting rod, in described straight line
One straight line motor secondary is arranged on electric motor primary, the secondary and described slide block of described linear electric motors is fastenedly connected.
8. as claimed in claim 4 a kind of have space two rotate and a translational degree of freedom parallel institution it is characterised in that institute
State driving means and include an elongated linear electric motor primary being fastenedly connected in described connecting rod, in described linear electric motor primary
Upper setting one straight line motor secondary, the secondary and described slide block of described linear electric motors is fastenedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510009279.4A CN104625767B (en) | 2015-01-08 | 2015-01-08 | Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510009279.4A CN104625767B (en) | 2015-01-08 | 2015-01-08 | Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space |
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| Publication Number | Publication Date |
|---|---|
| CN104625767A CN104625767A (en) | 2015-05-20 |
| CN104625767B true CN104625767B (en) | 2017-01-18 |
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| CN201510009279.4A Active CN104625767B (en) | 2015-01-08 | 2015-01-08 | Parallel mechanism with two rotation degrees of freedom and one translation degree of freedom of space |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105364913B (en) * | 2015-11-25 | 2017-03-22 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| CN106623993A (en) * | 2016-11-30 | 2017-05-10 | 长春理工大学 | Three-freedom-degree parallel spindle head mechanism suitable for horizontal machining |
| CN106624835B (en) * | 2017-01-17 | 2018-10-23 | 山东科技大学 | A kind of Miniature precision lathe that can once complete Free-Form Surface Machining |
| CN109955284B (en) * | 2019-03-11 | 2020-11-27 | 燕山大学 | Force feedback device with two rotations and one movement and three degrees of freedom |
| CN110253539A (en) * | 2019-06-06 | 2019-09-20 | 同济大学 | A kind of complete cycle 3-freedom parallel mechanism |
| CN114523464A (en) * | 2022-03-07 | 2022-05-24 | 山东科技大学 | Five-freedom-degree series-parallel hybrid robot |
| WO2023169377A1 (en) * | 2022-03-07 | 2023-09-14 | 诺创智能医疗科技(杭州)有限公司 | Multi-degree-of-freedom master manipulators, robot, and minimally invasive robotic surgery system |
| CN117506871A (en) * | 2023-12-15 | 2024-02-06 | 天津大学 | Three-degree-of-freedom parallel mechanism, parallel robot and machine tool |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19850708C2 (en) * | 1998-11-03 | 2000-10-26 | Ds Technologie Werkzeugmaschin | Milling head unit |
| CN100377847C (en) * | 2006-04-30 | 2008-04-02 | 天津大学 | Parallel mechanism having two rotational and one translational motion freedom |
| CN102490179A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom |
| CN102672714B (en) * | 2012-03-21 | 2014-05-21 | 天津大学 | High-rigidity high-precision five-coordinate parallel power head |
| CN102615643B (en) * | 2012-03-29 | 2014-04-02 | 天津大学 | Four-degree-of-freedom parallel manipulator |
| CN102601795B (en) * | 2012-03-29 | 2014-03-26 | 天津大学 | Power head capable of realizing five-shaft linkage operation |
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