CN105855921A - Parallel mechanism with three spatial freedom degrees - Google Patents
Parallel mechanism with three spatial freedom degrees Download PDFInfo
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- CN105855921A CN105855921A CN201610407036.0A CN201610407036A CN105855921A CN 105855921 A CN105855921 A CN 105855921A CN 201610407036 A CN201610407036 A CN 201610407036A CN 105855921 A CN105855921 A CN 105855921A
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- China
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- connecting rod
- branched chain
- movement branched
- moving platform
- slide block
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Bearings For Parts Moving Linearly (AREA)
- Machine Tool Units (AREA)
Abstract
The invention discloses a parallel mechanism with three spatial freedom degrees. The parallel mechanism comprises three vertically-arranged motion branch chains and a movable platform arranged in the space formed by the three motion branch chains in an enclosed manner, wherein each motion branch chain comprises a linear feeding system, and the linear feeding systems drive the movable platform to move vertically; the motion branch chain I is connected with the movable platform through a connecting rod A, two ends of the connecting rod A are respectively connected with the motion branch chain I and a connecting rod B through rotating pairs, and part of the rod body at the end, close to the connecting rod B, of the connecting rod A is connected with the movable platform through a rotating pair; the motion branch chain II is connected with the other end of the connecting rod B through a rotating pair; the motion branch chain III is connected with the movable platform through a connecting rod C, one end of the connecting rod C is connected with the motion branch chain III through a spherical hinge, and the other end of the connecting rod C is connected with the movable platform through a universal pair with two rotating freedom degrees. The parallel mechanism with two spatial rotating freedom degrees and one translation freedom degree has the advantages that the motion branch chains are simple in structure, and the high dynamic feature and stress balance feature of the mechanism are guaranteed effectively.
Description
Technical field
The present invention relates to a kind of 3-freedom parallel mechanism, be specifically related to a kind of parallel institution with space three-freedom,
Belong to mechanical manufacturing field.
Background technology
Parallel institution compact conformation, modular capability is good, and rigidity mass ratio is big, it is easy to accomplish high-speed motion.Parallel machine
Structure is the closed-loop system collectively formed by multiple side chains and dynamic and static platform, and its free degree is up to six.The free degree is less than
The parallel institution of six is referred to as minority carrier generation lifetime.Wherein, 3-freedom parallel mechanism is a kind of important lacking certainly
By degree parallel institution.In recent years, some series-parallel connection manufactures based on 3-freedom parallel mechanism equipment obtains in the industry
Successful Application, such as five axles series-parallel connection machining center Exechoon (W02006054935) based on 2-UPR/SPR mechanism,
With Ecospeed five axle series-parallel connection machining center (W02000025976) based on 3-PRS mechanism etc..Hybrid mechanism is held concurrently
Tool serial mechanism working space is big and parallel institution compact conformation, advantage that dynamic response characteristic is good, it is possible to realize big
The five-axle linkage of working space cuts Milling Machining at a high speed, is suitably applied the processing of Space Free-Form Surface type component.
Patent US6431802 and CN100377847C are the space two rotation-translation parallel machine that mesh first two is common
Structure, respectively 3PRS configuration and 3RPS configuration, both has been applied to series-parallel machine tool field.Liang Ge mechanism all includes
Silent flatform, moving platform and three structures be identical and the side chain that is distributed axisymmetricly.Mechanism involved by US6431802 props up
Chain comprises a moving sets, a revolute pair and a ball pivot successively；Wherein, moving sets is driver element, by leading
Rail coordinates with silent flatform；Revolute pair and ball pivot are passive unit, and ball pivot connects corresponding connecting rod and moving platform.
Mechanism's side chain involved by CN100377847C comprises a revolute pair, a moving sets and a ball pivot successively；Its
In, revolute pair is connected with fixed platform, and moving sets is driver element；Ball pivot is passive unit, connects corresponding connection
Bar and moving platform.
Additionally, the most many research units and scientific research institution's configuration go out multiple two turn of one motion three-freedom-degree parallel mechanism (as
WO005976, EP1123175, CN102632394 etc.), the colleges and universities such as Tsing-Hua University, University Of Tianjin also have pointed out one
A little parallel main-shaft head structures (such as CN101264576, CN101049699, CN101579828 etc.).But fortune
Dynamic secondary number is few, simple in construction, control readily such parallel main-shaft head structure also compare less.
Summary of the invention
It is an object of the invention to provide a kind of parallel institution with space three-freedom, it can be effectively increased moving platform
Pivot angle scope and guarantee moving platform kinematic accuracy, can be connected composition five-axle linkage series-parallel connection numerical control machining equipment with serial mechanism,
The shortcoming overcoming existing parallel main shaft head technology.
The parallel institution with space three-freedom provided by the present invention, including 3 movement branched chain being vertically arranged and
It is arranged at the moving platform in the space that 3 described movement branched chain are surrounded；
Every described movement branched chain all includes a linear feeding system, and described linear feeding system drives described moving platform edge
Vertical direction moves；
Article 3, described movement branched chain is designated as movement branched chain I, movement branched chain II and movement branched chain III successively；
Described movement branched chain I is connected with described moving platform by connecting rod A, and the two ends of described connecting rod A are by turning
Dynamic pair is connected with described movement branched chain I and connecting rod B respectively, the near described connecting rod B end of described connecting rod A
The part body of rod is connected with described moving platform by revolute pair；
Described movement branched chain II is connected by the other end of revolute pair with described connecting rod B；
Described movement branched chain III is connected with described moving platform by connecting rod C, and one end of described connecting rod C is with described
Movement branched chain III is connected by spherical linkage, by two turns between the other end and the described moving platform of described connecting rod C
The universal parafacies of the dynamic free degree connects.
In described parallel institution, described linear feeding system includes driving means and line slideway；
A slide block is connected by moving sets on described line slideway；
Described driving means drives described slide block to move along described line slideway, i.e. realizes the movement of described movement branched chain certainly
By spending.
In described parallel institution, described driving means drives described ball screw turns, turning at described ball-screw
The action described slide block of lower driving moves.
In described parallel institution, described driving means and described line slideway are all located on fixed mount.
In described parallel institution, described connecting rod A is connected with the described slide block of described movement branched chain I；
Described connecting rod B is connected with the described slide block of described movement branched chain II；
Described connecting rod C is connected with the described slide block of described movement branched chain III.
What the present invention provided has space double rotation freedom degrees and the parallel institution of a translational degree of freedom, the letter of each branched structure
Single, effectively ensure high dynamic characteristic and the stress balance characteristic of mechanism；The rotation of mechanism X and Y both direction is certainly
Being decoupled by degree, therefore its end moving platform obtains higher angle range and preferable output accuracy is then the one of this mechanism
Individual outstanding advantages；On the basis of this space two rotation-translation parallel institution, by using and platform series-parallel connection of connecting
Form can realize the digital control processing ability of five-axle linkage, thus realize complex free curved surface class part efficient, high
Precision is processed.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram that the present invention has the parallel institution of space three-freedom.
Fig. 2 is movement branched chain III structural representation that the present invention has the parallel institution of space three-freedom.
In figure, each mark is as follows:
10 fixed mounts, 11 line slideways, 12 ball-screws, 13,18,20 slide blocks, 14 driving means, 15
Connecting rod A, 17 connecting rods C, 19 connecting rods B, the universal pair of 16 double rotation freedom degrees, 101 movement branched chain
I, 102 movement branched chain II, 103 movement branched chain III, 201 moving platform.
Detailed description of the invention
The present invention will be further described below in conjunction with the accompanying drawings, but the invention is not limited in following example.
As it is shown in figure 1, the present invention can be used for the space two rotation-translation parallel institution of five-axle linkage hybrid CNC machine tool
Schematic diagram, including fixed mount 10, moving platform 201 and be spatially arranged vertically on fixed mount 10 and moving platform 201
Between movement branched chain I 101, movement branched chain II 102 and movement branched chain III 103.Each movement branched chain all has a set of
Same linear feeding system, it includes driving means 14, line slideway 11 and ball-screw 12, wherein drives dress
Put 14 and line slideway 11 be all fixedly installed on fixed mount 10, driving means 14 drives ball-screw 12 to rotate.
In movement branched chain I 101, slide block 13 is connected with moving sets with line slideway 11, slide block 13 device driven
14 drive (linearly guide rail 11 moves under the rotation of ball-screw 12), for movement branched chain I 101 input motion；
One end of connecting rod A15 is connected with slide block 13 by revolute pair, and the other end is by revolute pair and movement branched chain II 102
In connecting rod B19 connect, the mid portion body of rod of nearly connecting rod B19 end is connected with moving platform 201 by revolute pair,
The direction of three revolute pairs is as shown in fig. 1.
In movement branched chain II 102, slide block 20 device driven 14 drives (along straight under the rotation of ball-screw 12
Line guide rail 11 moves), for movement branched chain II 102 input motion；Revolute pair and slide block are passed through in one end of connecting rod B19
21 connect, and the other end is connected with connecting rod A15 by revolute pair, and the direction of revolute pair is as shown in fig. 1.
As in figure 2 it is shown, in movement branched chain III 103, slide block 18 device driven 14 drives (at ball-screw 12
Rotation under linearly guide rail 11 move), for movement branched chain III 103 input motion；One end of connecting rod C17 is passed through
Spherical linkage (not marking in figure) is connected with slide block 18, and the other end is flat with dynamic by universal secondary the 16 of double rotation freedom degrees
Platform 201 connects, and the direction of universal pair is as shown in Figure 2.
In parallel institution of the present invention, 3 movement branched chain are connected formation one respectively with moving platform 201 and fixed mount 10
Spatial closed loop, drives moving platform 201 to move by the input motion of 3 slide blocks.Parallel institution of the present invention utilizes
Movement branched chain I 101, moving platform 201, and movement branched chain II 102, realize moving platform 201 jointly around y-axis direction
Rotational freedom；Movement branched chain III 103 makes moving platform 201 have the rotational freedom in x direction.Due to 3 fortune
Dynamic side chain is respectively provided with the one-movement-freedom-degree in z direction, and therefore moving platform 201 also possesses z to one-movement-freedom-degree.Three
Chain acts on jointly, makes this mechanism have double rotation freedom degrees and a translational degree of freedom
In the above embodiment of the present invention, driving means 14 have employed servomotor-ball-screw feeding mode, by leading
Rail 11 is the motion input that slide block provides an one-movement-freedom-degree, and in order to reach same purpose, driving means 14 is also
Linear electric motors feeding mode can be used, the motion input of an one-movement-freedom-degree is provided for slide block.Certainly, specifically
In implementation process, use other any one can realize the drive form of same movement function and be all possible.Meanwhile,
The present invention can use modularized design, can be joined by the series connection mobile platform that the mechanical interface on fixed mount and two are orthogonal
Close and use, and then constitute the series-parallel connection digital control processing unit of five-axle linkage.Wherein, moving platform 201 can install lathe
Main shaft and cutter, complete part and cut milling task.
It is pointed out that the demand that the present invention be directed to Three Degree Of Freedom machine tooling unit is proposed, but the present invention
Final application be not restricted to machine tooling field.In the case of without departing from the invention essence, use other
Fixed mount (including shape and layout), type of drive and the chain connection mode of form are also applied to any field, all
Protection scope of the present invention should be belonged to.
Claims (5)
1. there is a parallel institution for space three-freedom, including 3 movement branched chain being vertically arranged and be arranged at 3
Moving platform in the space that movement branched chain described in bar is surrounded；
Every described movement branched chain all includes a linear feeding system, and described linear feeding system drives described moving platform edge
Vertical direction moves；
Article 3, described movement branched chain is designated as movement branched chain I, movement branched chain II and movement branched chain III successively；
Described movement branched chain I is connected with described moving platform by connecting rod A, and the two ends of described connecting rod A are by turning
Dynamic pair is connected with described movement branched chain I and connecting rod B respectively, the near described connecting rod B end of described connecting rod A
The part body of rod is connected with described moving platform by revolute pair；
Described movement branched chain II is connected by the other end of revolute pair with described connecting rod B；
Described movement branched chain III is connected with described moving platform by connecting rod C, and one end of described connecting rod C is with described
Movement branched chain III is connected by spherical linkage, by two turns between the other end and the described moving platform of described connecting rod C
The universal parafacies of the dynamic free degree connects.
Parallel institution the most according to claim 1, it is characterised in that: described linear feeding system includes driving
Device and line slideway；
A slide block is connected by moving sets on described line slideway；
Described driving means drives described slide block to move along described line slideway.
Parallel institution the most according to claim 2, it is characterised in that: described driving means drives described ball
Screw turns, drives described slide block to move under the rotary action of described ball-screw.
4. according to the parallel institution described in Claims 2 or 3, it is characterised in that: described driving means and described directly
Line guide rail is all located on fixed mount.
5. according to the parallel institution according to any one of claim 2-4, it is characterised in that: described connecting rod A with
The described slide block of described movement branched chain I is connected；
Described connecting rod B is connected with the described slide block of described movement branched chain II；
Described connecting rod C is connected with the described described slide block being connected side chain III.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610407036.0A CN105855921B (en) | 2016-06-12 | 2016-06-12 | Parallel institution with space three-freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610407036.0A CN105855921B (en) | 2016-06-12 | 2016-06-12 | Parallel institution with space three-freedom |
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| Publication Number | Publication Date |
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| CN105855921A true CN105855921A (en) | 2016-08-17 |
| CN105855921B CN105855921B (en) | 2019-01-04 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378917A (en) * | 2017-08-23 | 2017-11-24 | 中国地质大学（武汉） | A kind of machining center parallel main shaft head secondary without ball |
| CN108858141A (en) * | 2018-06-30 | 2018-11-23 | 福州大学 | A kind of the redundant constaint parallel institution and its working method of space two rotation-translation |
| CN111496765A (en) * | 2020-04-28 | 2020-08-07 | 清华大学 | Spatial two-rotation and one-movement three-degree-of-freedom parallel mechanism |
| CN112720423A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Single-layer three-section guide rail type planar robot with double parallelograms |
| CN115015273A (en) * | 2022-06-24 | 2022-09-06 | 广东工业大学 | Automatic lens pose adjusting device, visual detection system and adjusting method |
| CN117506871A (en) * | 2023-12-15 | 2024-02-06 | 天津大学 | Three-degree-of-freedom parallel mechanism, parallel robot and machine tool |
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| CN1267581A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| CN102126217A (en) * | 2011-04-12 | 2011-07-20 | 浙江理工大学 | Asymmetrical structure parallel mechanism with two rotational degrees of freedom and one translational degree of freedom |
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| CN102922515A (en) * | 2012-11-12 | 2013-02-13 | 天津理工大学 | Two-rotation one-movement parallel mechanism capable of realizing motion decoupling |
| CN203092548U (en) * | 2013-03-13 | 2013-07-31 | 燕山大学 | Non-symmetric decoupling parallel connection mechanism with two rotational degrees of freedom, one translational degree of freedom and three degrees of freedom |
| CN104551714A (en) * | 2015-01-08 | 2015-04-29 | 清华大学 | Parallel mechanism with spatial two rotation and one translation freedom degrees |
| CN104889978A (en) * | 2015-07-01 | 2015-09-09 | 北京工业大学 | Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism |
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Patent Citations (8)
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| US5847528A (en) * | 1995-05-19 | 1998-12-08 | Canadian Space Agency | Mechanism for control of position and orientation in three dimensions |
| CN1267581A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| CN102126217A (en) * | 2011-04-12 | 2011-07-20 | 浙江理工大学 | Asymmetrical structure parallel mechanism with two rotational degrees of freedom and one translational degree of freedom |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378917A (en) * | 2017-08-23 | 2017-11-24 | 中国地质大学（武汉） | A kind of machining center parallel main shaft head secondary without ball |
| CN108858141A (en) * | 2018-06-30 | 2018-11-23 | 福州大学 | A kind of the redundant constaint parallel institution and its working method of space two rotation-translation |
| CN108858141B (en) * | 2018-06-30 | 2023-12-19 | 福州大学 | Space two-rotation one-translation redundancy constraint parallel mechanism and working method thereof |
| CN111496765A (en) * | 2020-04-28 | 2020-08-07 | 清华大学 | Spatial two-rotation and one-movement three-degree-of-freedom parallel mechanism |
| CN112720423A (en) * | 2021-01-12 | 2021-04-30 | 山东理工大学 | Single-layer three-section guide rail type planar robot with double parallelograms |
| CN112720423B (en) * | 2021-01-12 | 2022-03-25 | 山东理工大学 | Single-layer three-section guide rail type planar robot with double parallelograms |
| CN115015273A (en) * | 2022-06-24 | 2022-09-06 | 广东工业大学 | Automatic lens pose adjusting device, visual detection system and adjusting method |
| CN117506871A (en) * | 2023-12-15 | 2024-02-06 | 天津大学 | Three-degree-of-freedom parallel mechanism, parallel robot and machine tool |
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| CN105855921B (en) | 2019-01-04 |
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