CN1075418C - Structure of machine tool with plane double-slider three-freedom virtual axle - Google Patents
Structure of machine tool with plane double-slider three-freedom virtual axle Download PDFInfo
- Publication number
- CN1075418C CN1075418C CN99106147A CN99106147A CN1075418C CN 1075418 C CN1075418 C CN 1075418C CN 99106147 A CN99106147 A CN 99106147A CN 99106147 A CN99106147 A CN 99106147A CN 1075418 C CN1075418 C CN 1075418C
- Authority
- CN
- China
- Prior art keywords
- guide rail
- slide block
- telescopic shaft
- machine tool
- moving platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000005520 cutting process Methods 0.000 claims abstract description 8
- 238000013519 translation Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000003754 machining Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 238000012545 processing Methods 0.000 description 18
- 238000013461 design Methods 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 8
- 238000004458 analytical method Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004513 sizing Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Landscapes
- Machine Tool Units (AREA)
Abstract
The present invention belongs to the technical field of machine manufacturing. The present invention comprises a guide rail, two controllable slide blocks, a straight-line drive unit for driving the slide blocks to move in the guide rail, two rods with fixed length, a movable platform for loading a cutting tool, and a worktable for installing workpieces, wherein one end of one rod with fixed length is hinged together with one end of the other rod with fixed length, and the other end of each rod with fixed length is connected with the slide blocks. The present invention also comprises a driven slide block and a telescopic shaft connected with the driven slide block. The structure of the machine tool has the advantages of low manufacture cost, simple structure, good machining manufacturability, good operating flexibility of cutting tools, high precision, high feed speed, prior machining directions, convenient calibration of thermic effect on a fixed leg, etc.
Description
The invention belongs to machinery manufacturing technology field, particularly a kind of have comprehensive function, an inside and outside secondary virtual-shaft machine tool structural design that combines that drives.
In mechanical manufacturing field, traditional frame for movement is stock-removing machine for example, all has fixing guide rail, and their basic exercise mode is to make cutter or workpiece along fixing guide rail movement.The total this motor pattern of legacy equipment has brought many intrinsic defectives:
One, traditional machine tool must have supporting member and the high-precision guide track systems that are fixed in supporting member such as the clumsy heavy lathe bed, column of high rigidity, cause that lathe weight is big, price is high, move and move difficulty.
Two, cutting tool can only be realized the processing feed motion along the given direction of fixed guide, limited the flexibility of cutter operation, in-line mechanical mechanism design makes spatial movement need lean on the mutual superposition of each direction motion to realize, easily produces the accumulation of error, has reduced the terminal precision.
Face complicated day by day machining shape of processing parts and special processing request, machine industry both domestic and external has been taked various corresponding countermeasures.For example, traditional machine tool satisfies the requirement of modern processing object by more complicated heavy self structure and the frock clamp that involves great expense.Consequently the manufacturing cycle is long, cost is high and workmanship is difficult to guarantee.Occurred the novel lathe that a class is called virtual-shaft machine tool in recent years, its adopts telescopic shaft or the sliding axle that can implement to control in parallel, has replaced traditional fixed guide system; Adopt frame structure, replaced heavy members such as traditional lathe bed, column.
The control system of tradition Digit Control Machine Tool is at rectangular coordinate system, i.e. X, Y, three one-movement-freedom-degrees of Z and A, B, three rotational freedoms of C, corresponding one of them free degree of the motion of each guide track system.And the controller of virtual-shaft machine tool is at each controlled axle.For a certain spatial pose requirement of cutter, exist corresponding telescopic shaft length or sliding axle slide position corresponding with it.Be that virtual-shaft machine tool is realized processing request by telescopic shaft length or sliding axle slide position.With the cutter pose that rectangular coordinate system is described, concerning this lathe, become description, and telescopic shaft length or sliding axle slide position are only its working control axle, so be called virtual-shaft machine tool to imaginary axis system.This type of lathe provides a kind of brand-new process equipment, has fundamentally changed the relative motion pattern of cutter and workpiece, has increased the flexibility of cutter Working motion, makes equipment have bigger process flexibility and control mobility.
Domestic and international existing virtual-shaft machine tool typical structure mainly comprises two classes: a class is the interior secondary virtual-shaft machine tool that drives of flexible shaft type, this class machine adopted frame support structure, controlled telescopic shaft is connected with the top or the bottom node of framework, and the other end of controlled telescopic shaft is connected with the moving platform that the main shaft of mounting cutter is used.Owing to adopt frame support structure, make this type of lathe with the condition of the equal working ability of traditional machine tool under, have lighter overall weight and bigger processing rigidity.But this each driving shaft of class lathe is coupled mutually, does not have preferential machine direction.Each telescopic shaft length changes constantly simultaneously, is difficult for carrying out the calibration of heat affecting.Frame for movement mostly is peculiar part greatly, and standardization level is not strong.
Another kind of is the outer secondary virtual-shaft machine tool that drives of slide block type.This class lathe also adopts frame support structure.But each controlled shaft length all immobilizes, and an end of controlled axle is connected with slide block, allows slide block move on guide rail, and the other end of controlled axle is connected with the moving platform that spindle motor is installed.This class lathe not only has the major advantage of first kind lathe, and owing to adopt the sizing bar, has effectively avoided the interior secondary fuel factor that drives lathe Retractive leg mechanism, has significantly reduced the hot error of process, and degree of being practical is greatly taken on a new look.In addition, produce the advantage direction of motion by the lathe that can make this type of configuration after further theory analysis and the optimal design, thereby with other direction of motion decoupling zero, be suitable for microscler complex-curved workpiece processing, have the advantage that is similar to the conventional cartesian coordinate system machine tool structure.This class lathe is obvious in the advantage direction of motion the fix a cutting tool flexibility ratio difference of operation of the flexibility ratio of operation and other machine direction of fixing a cutting tool, though these characteristics are suitable for the processing to microscler complex-curved workpiece, the processing of other type of workpiece is but had superiority not as first kind lathe.
The objective of the invention is in order to overcome the weak point of prior art, use for reference the advantage of the first kind and the second class virtual-shaft machine tool, slide block drives structure and expansion link drives structure are organically merged, design a kind of virtual-shaft machine tool structure with multiple functions such as cutting, grinding, transfer, assemblings, make it have simpler structure, better processing technology, better cutter operating flexibility degree, higher precision, feed speed faster, preferential machine direction, advantage such as heat affecting calibration easily on the Convenient table.And reduce the manufacturing cost of lathe and satisfy the demand of user 3-5 axis linkage numerical control lathe.
A kind of structure of machine tool with plane double-slider three-freedom virtual axle of the present invention's design, comprise 1 guide rail, 2 controlled slide blocks that are installed in this guide rail, drive 2 linear drives unit that this slide block moves in guide rail, 2 bars that length is fixing, 1 moving platform that cutting tool is housed, 1 workbench that workpiece is installed, it is characterized in that fixing bar one end of said 2 length is linked together by hinge, the other end is connected with a said slide block respectively; Also comprise 1 driven sliding block that also is installed in this guide rail, 1 controlled telescopic shaft, said driven sliding block and said one controlled slide block are fixed together by setpoint distance, one end of this driven sliding block and said controlled telescopic shaft is fixed, the other end of controlled telescopic shaft is connected with said moving platform one end, the other end of this moving platform links to each other with the hinge point of two regular length bars, forms closed linkage in parallel, and said workbench closed linkage in parallel with this on driving is independent mutually.
Said workbench can be by slide unit, the workbench of the rotatable and translation that motor, guide rail, turntable are formed.
Said controlled telescopic shaft can be by the cylinder blanket of an end opening, servomotor in the enclosure is installed successively, the linear guide of hollow inserts and to be subjected to motor-driven ball-screw and ball nut in the guide rod and the coupling that linear guide and ball nut are fixed together is formed.
One of feature of the present invention is: the leg-of-mutton summit that an end of moving platform and two regular length bars and guide rail form is hinged, and the other end and a controlled telescopic shaft are hinged, form closed linkage in parallel, makes moving platform obtain very high rigidity.Add triangle intrinsic stability, its vertex position rigidity is also very high, thereby has guaranteed the machining accuracy of lathe effectively.In addition, determining of one of triangle summit is only relevant with the position of slide block, and be irrelevant with the controlled telescopic shaft length of control moving platform corner.Because the slip of slide block directly shows the variation of this pin joint position, so be easy to realize the Position Control of this point and obtain good speed, the acceleration characteristic of this point.
Two of its feature is: the mounting means of mechanism's slide block has guaranteed that glide direction is the privileged direction of processing, is particularly suitable for processing some special workpieces, as microscler complex part.In addition, after the position of regular length bar pin joint is determined, if do not consider to interfere and extreme position, the planar a certain specific posture of moving platform, the length of the controlled telescopic shaft that only is attached thereto is relevant, and does not have direct relation with the particular location of slide block.By further analysis and optimization, can make moving platform obtain the ability of good realization attitude moving platform posture and slide position decoupling zero.
Three of its feature is: two regular length bars are driven by the slide block that is attached thereto, and are also referred to as outer secondary the driving.Regular length pole length direction is carried out the heat affecting calibration easily as can be known.
Four of its feature is: this mechanism is a plane mechanism, comprises two frees degree of planar translation and a rotary freedom that rotates around plane normal.Since simple in structure, can carry out deep theory analysis to mechanism, obtain optimum design parameter, also the real-time control for mechanism provides condition.By install increase on the platform of processing work one rotate or one with the vertical translation of closed linkage horizontal guide rail in parallel, make it become one four or five degree of freedom lathe.Will be applicable to the processing request of most of complex parts.
Five of its feature is: the motion of the controlled telescopic shaft that is connected with the moving platform machine is also finished by ball screw assembly, and servomotor.Controlled telescopic shaft is by the cylinder blanket of an end opening, servomotor in the enclosure is installed successively, the linear guide of hollow inserts and to be subjected to motor-driven ball-screw and ball nut in the guide rod and the coupling that linear guide and ball nut are fixed together is formed; Linear guide one end stretches out shell and moving platform is hinged, and the blind end and the driven sliding block of shell are hinged.
Content of the present invention is mainly reflected in the plane-parallel type closed linkage, the triangle translation structure that regular length bar and slide block are formed, connected mode between moving platform and regular length bar, the telescopic shaft, the driving of regular length bar and the mounting means of slide block, the translation of workbench and tumbler, six aspects such as the structure of controlled telescopic shaft.
Brief Description Of Drawings:
Fig. 1 is an embodiments of the invention general structure schematic diagram.
Fig. 2 is the structural representation of the controlled telescopic shaft of present embodiment.
Below in conjunction with accompanying drawing, introduce structure and the operation principle of a kind of plane double-slider three-freedom virtual axle lathe embodiment of the present invention in detail.
As shown in Figure 1, present embodiment is by regular length bar 4,5, controlled telescopic shaft 12, and moving platform 9, slide block 3,7,11, guide rail 2 constitutes the plane-parallel type closed linkages.Be subjected to when moving platform 9 that each root bar of closed linkage in parallel only is subjected to tension and compression after the power of any direction, be not subjected to moment of flexure, so it have very high rigidity.Because adopt frame structure, the weight of total also is very light.
Regular length bar 4,5, the controlled slide block 3,7 that is hinged with it adds the triangle translation structure that upper rail 2 is formed since triangle intrinsic stability, make its summit, promptly the pin joint of regular length bar 4,5 has good rigidity.When controlled slide block 3,7 changed the position, the pin joint of bar 4,5 was also along with corresponding change, and the change of this pin joint position is irrelevant with the controlled telescopic shaft 12 of control moving platform 9 rotational angles.The variation of the position of pin joint, speed, acceleration is only relevant with controlled slide block 3,7.
One end and the controlled telescopic shaft 12 of moving platform 9 are hinged, and the pin joint of the other end and connecting-rods with constant lengh 4,5 is hinged, and such design makes moving platform both have the advantage of telescopic shaft extension and contraction control, has the advantage that connecting-rods with constant lengh slides and controls again.The good capacity of moving platform 9 realization attitudes and the accuracy of location have been guaranteed.
Linear drives unit 1,10 drives slide block 3,7 respectively and slides on horizontal guide rail 2, and driven sliding block 11 is connected with slide block 7 by connecting plate 8, can slide on guide rail 2.The slide block glide direction is the advantage direction of motion of lathe as can be known, and this direction and the sufficient decoupling zero of other direction of motion are particularly suitable for the processing of elongated workpiece.The slip of slide block 3,7 causes the variation of hinged with it connecting-rods with constant lengh 4,5 poses.Owing to be outer secondary the driving, can carry out thermal calibration easily on the length direction to connecting-rods with constant lengh 4,5.
Have move and the workbench of rotating function by slide unit 13, motor 14, guide rail 15, rotary work-table 16 is formed.Motor 14 drives workbench 16 and goes up workpiece 17 and rotate, and slide unit 13 horizontal slip on guide rail 15, its direction of motion is vertical with the horizontal guide rail direction of motion of closed linkage in parallel, has effectively enlarged the range of work of lathe.Though move or rotary work-table separate with closed linkage in parallel on driving, it has effectively enlarged the range of work and the adaptability of lathe.
As shown in Figure 2, it is the structural representation of the controlled telescopic shaft 12 of present embodiment, among the figure, and the 27th, servomotor can rotate by the ball-screw 21 of drive installation on bearing 26 as requested, and bearing 26 and servomotor 27 all are installed in the casing 25.Straight line guide pin bushing 20 is fixed on the outer wall 24, and outer wall 24 is fixed on again on the casing 25, so does not have relative motion between straight line guide pin bushing 20 and casing 25 outer walls 24.Linear guide 19 can only be done rectilinear motion vertically and can not rotate around axis under the constraint of straight line guide pin bushing 20.Hookup 22 is fixed together linear guide 19 and ball nut 23, so ball nut 23 can not rotate around axis.When ball-screw 21 rotations, linear guide 19 is just made stretching motion vertically under the drive of ball nut 23.
Regular length bar 4,5 is 1500mm in the present embodiment, the flexible scope of controlled telescopic shaft 12 is limited in 1141.3mm-2090.6mm, the width of moving platform 9 is 1000mm, the sliding distance of slide block 3,7,11 on guide rail 2 is 6000mm, when the length of the connecting plate 8 between connection slide block 7 and the slide block 11 is 800mm, the slewing area that can obtain moving platform 9 is ± 30 °, and reached at the territory area of moving platform central point is 3.5096m
2
When the sliding distance of slide unit 13 on guide rail 15 of workbench was 1500mm, reached at the territory volume of moving platform 9 central points was 5.2644m
3
The present invention has following effect:
The first, a leg-of-mutton summit of an end of moving platform and two regular length bars and guide rail formation Be hinged, the other end and a controllable extensible axle are hinged, form closed linkage in parallel. Every in the structure A bar only is subjected to tension and compression, is not subjected to torsional interaction, has reduced the mismachining tolerance that the lathe stress deformation produces, and protects Demonstrate,proved the higher rigidity of lathe. Add the stability that triangle is intrinsic, its vertex position rigidity also very Height, the final rigidity that has greatly improved lathe. In addition, this summit of triangle only determines and slide block The position relevant, short irrelevant with the controllable extensible axial length of control moving platform corner. Because the slip of slide block Directly show the variation of this pin joint position, so be easy to realize that the Position Control of this point and acquisition should Speed, acceleration characteristic that point is good.
The second, the mounting means of mechanism's slide block has guaranteed that glide direction is the privileged direction of processing, and is special Be fit to some special workpieces of processing, such as microscler complex part. In addition, the position of regular length bar pin joint Put determine after, if do not consider to interfere and extreme position, moving platform is a certain specific posture planar, Only relevant with the length of the controllable extensible axle that is attached thereto, and do not have direct pass with the particular location of slide block System, moving platform has the ability of good realization attitude.
Three, two regular length bars adopt outer secondary type of drive, can carry out easily heat to its length The impact calibration.
Four, this structure is a simple planar structure, low cost of manufacture, easy accessibility. Part drives Adopt outer secondary the driving, be easy to adopt standard component production. By movement and the rotation merit that increases workbench Can, also can make it become one four or five degree of freedom lathe. Be applicable to the processing of most of complex parts Requirement.
Five, simple in structure, carry out easily deep theory analysis, obtain optimum design parameter. Also Easily it is controlled in real time.
Six, the controllable extensible axle construction of functional independence, linear guide has adopted hollow structure, so that The installation of ball-screw. This structure is not only simple, and Central Symmetry, has produced when having reduced motion Various errors can improve the synthesis precision of lathe greatly.
Claims (3)
1, a kind of structure of machine tool with plane double-slider three-freedom virtual axle, comprise 1 guide rail, 2 controlled slide blocks that are installed in this guide rail, drive 2 linear drives unit that this slide block moves in guide rail, 2 bars that length is fixing, 1 moving platform that cutting tool is housed, 1 workbench that workpiece is installed, it is characterized in that fixing bar one end of said 2 length is linked together by hinge, the other end is connected with a said slide block respectively; Also comprise 1 driven sliding block that also is installed in this guide rail, 1 controlled telescopic shaft, said driven sliding block and said one controlled slide block are fixed together by setpoint distance, one end of this driven sliding block and said controlled telescopic shaft is fixed, the other end of controlled telescopic shaft is connected with said moving platform one end, the other end of this moving platform links to each other with the hinge point of two regular length bars, forms closed linkage in parallel, and said workbench closed linkage in parallel with this on driving is independent mutually.
2, machine tool structure as claimed in claim 1 is characterized in that, said workbench is by slide unit, the workbench of the rotatable and translation that motor, guide rail, turntable are formed.
3, machine tool structure as claimed in claim 1, it is characterized in that, said controlled telescopic shaft is by the cylinder blanket of an end opening, servomotor in the enclosure is installed successively, the linear guide of hollow inserts and to be subjected to motor-driven ball-screw and ball nut in the guide rod and the coupling that linear guide and ball nut are fixed together is formed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99106147A CN1075418C (en) | 1999-04-29 | 1999-04-29 | Structure of machine tool with plane double-slider three-freedom virtual axle |
| US09/518,425 US6402444B1 (en) | 1999-04-29 | 2000-03-03 | Type of parallel machine tool frame driven by slider and extensible strut |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99106147A CN1075418C (en) | 1999-04-29 | 1999-04-29 | Structure of machine tool with plane double-slider three-freedom virtual axle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1231226A CN1231226A (en) | 1999-10-13 |
| CN1075418C true CN1075418C (en) | 2001-11-28 |
Family
ID=5272279
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN99106147A Expired - Fee Related CN1075418C (en) | 1999-04-29 | 1999-04-29 | Structure of machine tool with plane double-slider three-freedom virtual axle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1075418C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100360835C (en) * | 2004-06-11 | 2008-01-09 | 浙江双友物流器械股份有限公司 | Controller of sliding block |
| CN100464946C (en) * | 2007-01-19 | 2009-03-04 | 清华大学 | Structure of spindle head of parallel type A/B axes |
| CN101269463B (en) * | 2008-04-25 | 2010-06-02 | 清华大学 | Multi-shaft linkage series-parallel machine tool |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1098745C (en) * | 2000-01-17 | 2003-01-15 | 河北工业大学 | Five-freedom five-shaft parallel virtual-shaft machine tool |
| CN1106906C (en) * | 2000-07-03 | 2003-04-30 | 南通工学院 | Three-freedom planar virtual shaft machine tool with three moving sets |
| CN100411826C (en) * | 2005-11-11 | 2008-08-20 | 华南理工大学 | Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions |
| CN100384599C (en) * | 2006-06-09 | 2008-04-30 | 燕山大学 | Four-freedom parallel mechanical arm |
| CN103495973B (en) * | 2013-09-28 | 2015-06-17 | 新乡学院 | Planar three-freedom-degree parallel mechanism driven by three linear drivers and application thereof |
| CN105386761B (en) * | 2015-11-11 | 2018-01-23 | 山东深博巷道支护技术有限公司 | Angle-adjusting mechanism based on planar linkage mechanism principle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07250500A (en) * | 1994-03-10 | 1995-09-26 | Fuji Electric Co Ltd | Variable speed controller for induction motor |
| FR2757440A1 (en) * | 1996-12-20 | 1998-06-26 | Conservatoire Nat Arts | Platform with hexapod telescopic legs for use with machine tools |
-
1999
- 1999-04-29 CN CN99106147A patent/CN1075418C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07250500A (en) * | 1994-03-10 | 1995-09-26 | Fuji Electric Co Ltd | Variable speed controller for induction motor |
| FR2757440A1 (en) * | 1996-12-20 | 1998-06-26 | Conservatoire Nat Arts | Platform with hexapod telescopic legs for use with machine tools |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100360835C (en) * | 2004-06-11 | 2008-01-09 | 浙江双友物流器械股份有限公司 | Controller of sliding block |
| CN100464946C (en) * | 2007-01-19 | 2009-03-04 | 清华大学 | Structure of spindle head of parallel type A/B axes |
| CN101269463B (en) * | 2008-04-25 | 2010-06-02 | 清华大学 | Multi-shaft linkage series-parallel machine tool |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1231226A (en) | 1999-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101386150B (en) | Numerical control polishing machine for optical elements | |
| CN1238156C (en) | Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool | |
| CN1219627C (en) | Six freedom parallel mechanism for virtual shaft digitally controlled machine tool and measuring machine | |
| CN1081970C (en) | Ganty slide block type machine tool structure with virtal shaft driven by internal and external sets | |
| CN201283534Y (en) | Numerical control polishing machine tool | |
| CN1075418C (en) | Structure of machine tool with plane double-slider three-freedom virtual axle | |
| CN1116959C (en) | New-type mixed-coupled five-freedom virtual shaft machine tool | |
| CN107443173A (en) | A kind of big stroke with restructural characteristic, high rigidity serial-parallel mirror lathe | |
| CN101497167B (en) | Parallel type three-shaft mainshaft head structure without accompanied movement | |
| WO2022122047A1 (en) | Four-degree-of-freedom parallel mechanism having movable platform capable of large-angle twisting and compound support linkages. | |
| CN1817574A (en) | Two-freedom parallel-connecting mechanism with passive constrained branch | |
| CN1113727C (en) | Mixed connection based virtual axle machine tool | |
| CN201224023Y (en) | Five-DOF five-rod pure parallel numerical control machine tool | |
| CN213561298U (en) | Five-freedom-degree series-parallel machine tool for machining large-area workpieces | |
| CN101347903A (en) | Series-multiple connection type flat lower-mobility virtual axis machine tool | |
| CN1257041C (en) | One-dimensional moving three-dimensional rotating parallel machine tool | |
| CN100439050C (en) | Fine vernier parallel 3D travel mechanism including screw pair | |
| CN1110399C (en) | Darallel machine tool with three translation freedoms | |
| CN207127626U (en) | A kind of big stroke with restructural characteristic, high rigidity serial-parallel mirror lathe | |
| CN101691013A (en) | Parallel main shaft head movable arm supporting structure and manufacturing method | |
| CN1056551C (en) | Machine tool structure with dioctahedral frame virtual shaft | |
| CN115770915A (en) | Gantry machining unit of electric discharge machine tool | |
| CN1216719C (en) | New type two dimension moving two dimension rotating parallel machine tool | |
| CN112318183A (en) | Large-stroke five-degree-of-freedom series-parallel machine tool | |
| US11745365B2 (en) | 3-axis parallel linear robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |