CN108908292A - A kind of mixed connection decoupling lathe that two turn of three shifting can be achieved - Google Patents
A kind of mixed connection decoupling lathe that two turn of three shifting can be achieved Download PDFInfo
- Publication number
- CN108908292A CN108908292A CN201810722393.5A CN201810722393A CN108908292A CN 108908292 A CN108908292 A CN 108908292A CN 201810722393 A CN201810722393 A CN 201810722393A CN 108908292 A CN108908292 A CN 108908292A
- Authority
- CN
- China
- Prior art keywords
- connection
- branch
- lathe
- platform
- parallel
- 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.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 22
- 239000000203 mixture Substances 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 3
- 230000008859 change Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 241000282376 Panthera tigris Species 0.000 description 1
- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Machine Tool Units (AREA)
Abstract
The invention belongs to robot fields, in order to solve the problems such as motional inertia existing for existing series-parallel machine tool is big, stability is poor, controllability is weak, precision is low, the present invention provides a kind of mixed connections that two turn of three shifting can be achieved to decouple lathe, including three branch isotropism parallel connection moved decoupling mechanisms, two branch parallel connections rotation decoupling mechanism and pedestal clamping device, three branch isotropism parallel connection moved decoupling mechanisms complete the translation in three directions of lathe；Two branch parallel connections rotate decoupling mechanism, complete the rotation of lathe both direction；Pedestal clamping device completes accurate positionin of the workpiece on lathe.The lathe is in series by U pair by two parallel institutions, there is biggish space and movement rigidity, control to be easy, kinematic accuracy is high, and rigidity is big；And it will not change in the direction of operational process pivot center.
Description
Technical field
The invention belongs to robot fields, and in particular to a kind of mixed connection decoupling lathe that two turn of three shifting can be achieved.
Background technique
Since parallel-connection decoupling machine space is small, mixed connection decoupling mechanism is integrated with the big working space of serial configured and parallel connection
Configuration high-precision, high rigidity, the configuration advantage of high-mechanic can adapt to the work that modern high end intelligently equips various complex environments
Demand.But at present by two parallel institutions be cascaded the parallel institution series connectionization constituted part decoupling series-parallel configuration fortune
Dynamic inertia is big, not easy to operate；By parallel connection decoupling mechanism and kinematic pair hybrid mechanism in series, part driving must be installed
In on kinematic pair, it is suppressed that the flexibility of hybrid mechanism operation, and the rigidity of end-effector is smaller, is particularly unsuitable for lathe
Equipment.
Summary of the invention
The present invention is for motional inertia is big, stability is poor, controllability is weak, precision is low, end existing for existing series-parallel machine tool
The problems such as operator rigidity is small proposes a kind of mixed connection decoupling lathe that two turn of three shifting can be achieved.
The present invention adopts the following technical scheme that：
A kind of mixed connection decoupling lathe that two turn of three shifting can be achieved, including：Three branch isotropism parallel connections are mobile（3T）Decoupling mechanism,
Two branch parallel connections rotation（2R）Decoupling mechanism and pedestal clamping device；Three branch isotropism parallel connections are mobile（3T）Decoupling mechanism,
Complete the translation in three directions of lathe；Two branch parallel connections rotation（2R）Decoupling mechanism completes the rotation of lathe both direction；Pedestal
Clamping device completes accurate positionin of the workpiece on lathe；Three branches isotropism parallel connection moved decoupling mechanism with two
Chain parallel connection rotation decoupling mechanism connected by up-down structure by U pair, all driving branches of two parallel institutions be mounted on by
On the rectangular cylinder frame of several columns and cross bar composition, the fixed company of rectangular cylinder base of frame and pedestal clamping device top surface
It connects, constitutes the pedestal of lathe.
The three branches isotropism parallel connection moved decoupling mechanism includes I moving platform and three (4R) RR branches, wherein
Two unbranched symmetric arrangements, outboard end are connect with two adjacent crossbars of rectangular cylinder frame roof respectively, and inner end is dynamic with No. I
The side of platform connects, and the outboard end of another branch is connect with two adjacent crossbars vertical column connected vertically, interior
Side is connect with the side of I moving platform；
The structure composition of three branches is identical, and the branch includes I rotating bar, long rotating bar, long axis of rotation, two No. II turn
Lever, shaft case, gear-box and servo motor.Shaft case, gear-box and servo motor are fixed on cross bar where branch and vertical
On column；One end of I rotating bar is connect with I moving platform revolute pair, and the other end of I rotating bar and long rotating bar one end rotate
Connection, the other end of long rotating bar are connect with long axis of rotation cylindrical sleeves pair, and the both ends of long axis of rotation turn with two No. II respectively
One end revolute pair of lever connects, and two II rotating bars are parallel to each other, two axis of the other end and shaft case are correspondingly connected with, tooth
The input shaft of roller box is connect with servo motor, the output shaft of gear-box and two axis connections of shaft case, two axis of shaft case
It is correspondingly connected with one end of two II rotating bars；Shaft case, 2 II rotating bars and long axis of rotation form parallel four side
Shape mechanism, and parallelogram mechanism is parallel with the cross bar or column being correspondingly connected with；Two branch chain belts being connect with two cross bars
Dynamic I moving platform realizes the movement all around of horizontal direction, and the branch connecting with column drives I platform to realize and moves down
It is dynamic.
The two branches parallel connection rotation decoupling mechanism includes II platform and two (CPUR) branches, the top of II platform
It is connected by II Hooke's hinge with I moving platform, the bottom of II platform is equipped with tool coupling, and two unbranched symmetrics are set
It sets, branch inner end is connect with II platform, outboard end and rectangular cylinder frame connect；
The structure composition of two branches is identical, and branch includes ball-screw component, I guide rail slide block, I linear guide, right angle
One end of rotating connector, straight line rotating connector, straight line rotating connector is connect with II platform side revolute pair, and straight line turns
The other end of follower link is connect by I Hooke's hinge with the horizontal ends revolute pair of right angle rotating connector, right angle rotating connection
The vertical end bottom end of part is equipped with I guide rail slide block, and I guide rail slide block is connect with the I linear guide prismatic pair being laterally arranged,
One end of I linear guide is connect with the sliding block revolute pair of ball-screw component, the external drive of vertical lead screw of ball-screw component
Dynamic servo motor, and the upper and lower ends of vertical lead screw pass through rotating connector respectively and connect with rectangular cylinder frame member pair.
The pedestal clamping device includes pedestal and the II linear guide being mounted on the base, II guide rail slide block, tiger
Pincers, III guide rail slide block and III linear guide, the column of rectangular cylinder frame are fixed at four angles of base upper surface,
Two II linear guides are arranged in parallel and are mounted on the base, and the both ends of III linear guide pass through II guide rail slide block respectively
It is connect with the II linear guide prismatic pair of two sides, prismatic pair installs III guide rail slide block in III linear guide, and No. III is led
Vice is fixed with by plate on rail sliding block.
The present invention rotates decoupling machine by the moving platform of three branch isotropism parallel connection moved decoupling mechanisms and two branch parallel connections
The moving platform of structure is cascaded by U pair.Assembly primary condition must meet： The center of number platform withIn number platform
The heart is in a vertical centerline；Two branches of 2 rotation parallel connection decoupling mechanisms must be with isotropism mobile parallel connection decoupling machine
It is parallel that structure is installed on two branches on spreader；And two axis of U pair are respectively parallel to the both direction.Three branches it is each to same
Property mobile parallel connection decoupling mechanism realize lathe along the translation in three directions, the parallel-connection decoupling rotating mechanisms of two branches realizes lathe edge
The rotation of both direction, clamping device realize accurate positionin of the workpiece on lathe.It has the advantages that：
1, the moving platform of two parallel connection decoupling mechanisms is connected by U pair；All branches of parallel connection decoupling mechanism
It is connected with machine framework.Therefore, the motional inertia of lathe is small, and controllability is strong, and kinematic accuracy is high, the work of end cutter is rigid
Degree is big.
2, the freedom of motion for rotating parallel connection decoupling mechanism branch includes the freedom of motion of isotropism parallel connection decoupling mechanism
Degree, that is to say, that rotation parallel connection decoupling mechanism branch, which exists, obtains isolated degree of freedom relative to isotropism parallel connection decoupling mechanism；It is real
Decoupling between existing 2R rotation parallel connection decoupling mechanism and 3T parallel institution.
3, lathe is in series by U pair by two parallel institutions, has biggish space and movement rigidity, control
It is easy, kinematic accuracy is high, and rigidity is big；And it will not change in the direction of operational process pivot center.
4, the lathe can be used for the machine-shaping of all kinds of micro-, smart, thin products, such as the skilled worker of Precision Machinery Elements, artificial tooth
Precision manufactureing, engraving of craftwork etc..
Detailed description of the invention
Fig. 1 is a kind of positive isometric view that can be realized two turn of three shifting mixed connection and decouple lathe；
Fig. 2 is a kind of 3T isotropism mobile parallel connection decoupling mechanism schematic diagram that can be realized two turn of three shifting mixed connection and decouple lathe；
Fig. 3 is a kind of 2R parallel connection decoupling mechanism schematic diagram that can be realized two turn of three shifting series-parallel machine tool；
Fig. 4 is a kind of pedestal clamping schematic device that can be realized two turn of three shifting mixed connection and decouple lathe；
Fig. 5 is structure diagram of the invention；
In figure：1- rotation axis, 2-I rotating bar, 3- long rotating bar, 4- connecting shaft, 5- long axis of rotation, 6-II rotating bar, 7-
Shaft case, 8- gear-box, 9- servo motor, 10- column connecting piece, 11- fixedly connected part, 12-I platform, 13- truss, 14-
Column, 15- whippletree, 16- rotating connector, 17- ball-screw component, 18-I guide rail slide block, 19-I linear guide, 20-
Rotation connection axis, 21- right angle rotating connector, 22- fixed plate, 23- straight line rotating connector, 24-I Hooke's hinge, No. 25-II
Platform, 26-II Hooke's hinge, 27- tool coupling, 28- cutter, 29-II linear guide, 30-II guide rail slide block, 31-
Vice, 32- plate, 33-III guide rail slide block, 34-III linear guide, 35- pedestal.
Specific embodiment
In conjunction with attached drawing, specific embodiments of the present invention will be further explained：
The mixed connection of the present invention that two turn of three shifting can be achieved decouples lathe, simultaneously by 3T isotropism mobile parallel connection decoupling mechanism, 2R
Join decoupling mechanism and pedestal clamping device three parts composition, leads between 3T isotropism parallel connection decoupling mechanism and 2R parallel connection decoupling mechanism
Cross II Hooke's hinge（U pair）It is cascaded.
3T parallel connection decoupling mechanism is as shown in Fig. 2, by 6 rotation axis, 3 I rotating bars, 3 long rotating bars, and 6 No. II
Rotating bar, 6 connecting shafts, 4 columns, 3 gear-boxes, 3 shaft casees, 13 servo motor, 1 I platform composition.Control
Lathe processed realizes that the branched structure of the translation on horizontal plane in both direction is the same, and 2 gear-boxes are by being fixed on square purlin
Top among the adjacent both sides of frame, 2 shaft casees are bolted under the square truss side where 2 gear-boxes
Side, and shaft case is connected with the axis of gear-box by bearing, servo motor is bolted on the top of gear-box, turns
Two axis of axle box are connect by bearing with two II rotating bar one end, the other end of II rotating bar pass through bearing respectively with
The shaft end connection of 2 connecting shafts, the both ends of long axis of rotation are fixed in the axis hole on connection shaft end, so that shaft case, 2 II
Number rotating bar, 2 connecting shafts, long axis of rotation form a parallelogram mechanism, and one end of long rotating bar passes through bearing connection
In the centre of long rotating bar, the other end is connect by rotation axis with an end bearing of I rotating bar, the other end of I rotating bar
Right end on I platform is connected to by bearing and rotation axis；The mobile branch of another control machine tool horizontal with it is mentioned-above
The structure of branch is just the same, and end is connected to the left end of I platform.It is bolted on four angles of square truss
There are four column, the mobile third branch of control lathe vertical direction is mounted in by the truss side point of intersection column of movement branched chain.
Column connecting piece is fixed on column by bolt, and fixing piece is fixed on column connecting piece, and gear-box is fixed in fixing piece
Side, servo motor are fixed on gear-box, and shaft case is fixed on the other side of fixing piece, and shaft case passes through bearing and gear-box
Two axis connections, one end of II rotating bar by two axis connections on bearing and shaft case, the other end by bearing with
The shaft end of connecting shaft connects, and the both ends of long axis of rotation are fixed in the axis hole on connection shaft end, so that shaft case, 2 No. II
Rotating bar, 2 connecting shafts, long axis of rotation form a parallelogram mechanism, and one end of long rotating bar is connected to by bearing
The centre of long rotating bar, the other end are connected to the middle position of I platform by bearing.The branch being fixed on two sides of truss
It can be realized the translation in horizontal plane both direction of series-parallel machine tool, servo motor drives the gear band turn axis in gear-box
Axis in case drives II rotating bar or so（Front and back）It swings, drives the long rotating bar for being connected to long axis of rotation by bearing left
It is right（Front and back）Mobile, long rotating bar drives the movement of I rotating bar, and I rotating bar drives I platform to realize left and right（Front and back）Fortune
It is dynamic.The axis in the gear band turn axle box in gear-box that servo motor driving is fixed in fixedly connected part, drives No. II to turn
Lever moves up and down, and drives the long rotating bar realization for being connected to long axis of rotation by bearing to move up and down, long rotating bar drives No. I
Platform realization moves up and down.Due to being connected together through a hinge between I platform and II platform by II Hooke, then II platform
It can realize the translation on three directions together with I platform.
2R decoupling parallel mechanism is as shown in figure 3, by 2 ball-screw components, 6 rotating connectors, 2 fixed plates, 4
Whippletree, 2 rotation connection axis, 2 I linear guides, 2 I guide rail slide blocks, 2 right angle rotating connectors, 4 straight line rotations connect
Fitting, 2 I Hooke's hinges, 1 II Hooke's hinge, 1 tool coupling, 1 cutter, 2 servo motor compositions.2R decoupling
Two branched structures of parallel institution are consistent.Four whippletrees are separately fixed on other three columns, are fixed respectively on every column
One end of two cross bars, the middle position of each cross bar have been bolted rotating connector, and fixed plate is by bearing and turns
Follower link connection, ball-screw component are fixed in fixed plate by bolt, and servo motor is fixed on ball-screw component
Top is fixed with rotating connector on the sliding block of ball-screw component, and the shaft end for being rotatablely connected axis passes through bearing and rotation connection
Part connection, linear guide are bolted on the platform of rotation connection shaft end, and guide rail slide block is in linear guide, directly
Angle rotating connector end is bolted on guide rail slide block, and the shaft end of right angle rotating connector is turned by bearing and straight line
The end of follower link connects, and the top of straight line rotating connector and one end of I Hooke's hinge are affixed, I Hooke's hinge it is another
End is fixed in the top of straight line rotating connector, and end is connect by bearing with II platform, the upside of II platform and II
One end of number Hooke's hinge is bolted, and the other end of II Hooke's hinge is affixed by bolt and I platform, II Hooke's hinge
The axis of two rotation axis be respectively perpendicular to plane where ball-screw component, the downside of II plane and tool coupling
One end is affixed, and the other end and cutter of tool coupling are affixed.The ball-screw group being connected to by rotating connector on cross bar
Part can be rotated around the axis of two rotating connectors, and the lead screw of servo motor driving ball-screw component 17 comes with the upper of movable slider
Lower movement, moving up and down for sliding block drive through rotating connector and are rotatablely connected in the I linear guide of axis connection on it
Lower movement and rotation, I linear guide can be around the axial-movements of rotating connector, and I linear guide moves up and down and turns
Dynamic that I guide rail slide block is driven to slide on guide rail, the movement of I guide rail slide block drives right angle rotating connector, straight line rotation to connect
Fitting, the movement of I Hooke's hinge, the final rotation for driving II platform, the coordinated movement of various economic factors of two branches of 2R parallel connection decoupling mechanism
II platform is enabled to realize the rotation in both direction.Cutter is fixed on II platform by tool coupling 27, by
Rotation in the movement and both direction that II platform can be realized three directions, then cutter is also able to achieve three directions
Rotation in mobile and both direction.
Pedestal clamping device by 2 II linear guides, 2 II guide rail slide blocks, 1 III straight line as shown in figure 4, led
Rail, 1 III guide rail slide block, 1 plate, 1 vice, 1 pedestal composition.Four columns are fixed in pedestal by bolt and add
It holds on four angles of the base platform of device, two II linear guides are bolted on base platform, and 2 No. II is led
Rail sliding block is attached separately in 2 II linear guides, and the both ends of III linear guide are bolted on 2 II guide rails
On sliding block, III guide rail slide block is fixed with plate on the upside of III guide rail slide block, vice passes through in III linear guide
Bolt is fixed on plate, is used for clamping workpiece, and then vice can be realized all around moving in the horizontal plane, for adjusting
Save the position of workpiece.
The present invention is that the mixed connection with 3 mobile 2 rotations decouples lathe, and pedestal is connected as one with rectangular cylinder, is constituted mixed
The newel frame of connection decoupling lathe.In the upper end of frame by identical branch (4R) the RR branch of three structures (along rectangular column
Two horizontal directions and vertical direction) and moving platformConstitute isotropism parallel connection decoupling mechanism.Lower end passes through two CPUR branches
(along rectangular cylinder horizontal plane direction and consistent with two horizontal directions of rectangular column) and moving platformBeing connected, it is in parallel to constitute 2 rotations
Decoupling mechanism；Moving platformWith moving platformIt is linked together by U pair, the axial direction of U and two horizontal directions one of rectangular cylinder
It causes；Constitute mixed connection decoupling mechanism.
Because all drivers are placed on rectangular cylinder frame, the motional inertia of lathe end output is small, stability
It is good；The movement of three orthogonal directions and the rotation of two orthogonal directions pass through two parallel institutions respectively and realize that controllability is strong, fortune
Dynamic precision is high；2 rotation parallel connection decoupling mechanisms are by realizing edge and U to the linear drives of consistent both direction along with U countershaft
Consistent two rotations of axis direction, solve a case where fixed rotating shaft is only existed in two one-rotation parallel mechanisms；The mixed connection solution
Coupling mechanism is bigger than the parallel institution space of identical dimensional structure due to having merged serial mechanism feature.
Claims (4)
1. a kind of mixed connection that two turn of three shifting can be achieved decouples lathe, it is characterised in that including：Three branch isotropism parallel connections are mobile
Decoupling mechanism, two branch parallel connections rotation decoupling mechanism and pedestal clamping device；
Three branch isotropism parallel connection moved decoupling mechanisms complete the translation in three directions of lathe；
Two branch parallel connections rotate decoupling mechanism, complete the rotation of lathe both direction；
Pedestal clamping device completes accurate positionin of the workpiece on lathe；
The three branches parallel connection moved decoupling mechanism is connect by up-down structure by U pair with two branch parallel connections rotation decoupling mechanism,
And all branches of two parallel connection decoupling mechanisms are mounted on the rectangular cylinder frame being formed by connecting by several columns and cross bar,
Rectangular cylinder base of frame is connect with pedestal clamping device top surface.
2. the mixed connection according to claim 1 that two turn of three shifting can be achieved decouples lathe, which is characterized in that three branch is each
To same sex parallel connection moved decoupling, mechanism includes I platform（12）With three branches, the setting of two of them unbranched symmetric, outboard end point
It is not connect with two adjacent crossbars of rectangular cylinder frame roof, inner end and I platform（12）Side connection, another branch
The outboard end of chain is connect with two adjacent crossbars column connected vertically, inner end and I platform（12）Side connect
It connects；
The structure composition of three branches is identical, and the branch includes I rotating bar（1）, long rotating bar（3）, long axis of rotation（5）,
Two II rotating bars（6）, shaft case（8）, gear-box（8）And servo motor（9）, shaft case（8）, gear-box（8）And servo
Motor（9）It is fixed on cross bar and column where branch, I rotating bar（1）One end and I platform（12）Revolute pair connects
It connects, I rotating bar（1）The other end and long rotating bar（3）One end rotation connection, long rotating bar（3）The other end and long rotate
Axis（5）The connection of cylindrical sleeves pair, long axis of rotation（5）Both ends respectively with two II rotating bars（6）One end revolute pair connection,
Two II rotating bars（6）It is parallel to each other, the other end and shaft case（8）Two axis be correspondingly connected with, gear-box（8）Input shaft
With servo motor（9）Connection, gear-box（8）Output shaft and shaft case（8）Two axis connections, shaft case（8）Two axis
With two II rotating bars（6）One end be correspondingly connected with, shaft case（8）, 2 II rotating bars（6）And long axis of rotation（5）Composition
One parallelogram mechanism, and parallel mechanism is parallel with the cross bar or column being correspondingly connected with；
Two branches connecting with two cross bars drive I platform（12）The movement all around for realizing horizontal direction, with column
The branch of connection drives I platform（12）Realization moves up and down.
3. the mixed connection according to claim 2 that two turn of three shifting can be achieved decouples lathe, which is characterized in that two branch is simultaneously
Connection rotation decoupling mechanism includes II platform（25）With two branches, II platform（25）Top pass through II Hooke's hinge（26）
With I platform（12）Series connection, II platform（25）Bottom tool coupling is installed（27）, two unbranched symmetric settings, branch
Chain inner end and II platform（25）Connection, outboard end and rectangular cylinder frame connect；
The structure composition of two branches is identical, and branch includes ball-screw component（17）, I guide rail slide block（18）, I straight line leads
Rail（19）, right angle rotating connector（21）, straight line rotating connector（23）, straight line rotating connector（23）One end and No. II it is flat
Platform（25）The revolute pair of side connects, straight line rotating connector（23）The other end pass through I Hooke's hinge（24）With right angle rotating
Connector（21）Horizontal ends revolute pair connection, right angle rotating connector（21）Vertical end bottom end I guide rail slide block is installed
（18）, I guide rail slide block（18）With the I linear guide being laterally arranged（19）Prismatic pair connection, I linear guide（19）One
End and ball-screw component（17）Sliding block revolute pair connection, ball-screw component（17）Vertical lead screw external driving servo electricity
Machine, and the upper and lower ends of vertical lead screw pass through rotating connector respectively（16）It is connect with rectangular cylinder frame member pair.
4. the mixed connection according to claim 3 that two turn of three shifting can be achieved decouples lathe, which is characterized in that the pedestal clamping
Device includes pedestal（35）Be installed on pedestal（35）On II linear guide（29）, II guide rail slide block（30）, vice
（31）, III guide rail slide block（33）With III linear guide（34）, the column of rectangular cylinder frame is fixed on pedestal（35）On
At four angles on surface, two II linear guides（29）It is arranged in parallel and is installed on pedestal（35）On, III linear guide（34）
Both ends pass through II guide rail slide block respectively（30）With the II linear guide of two sides（29）Prismatic pair connection, III straight line are led
Rail（34）Upper prismatic pair installs III guide rail slide block（33）, III guide rail slide block（33）It is upper that vice is fixed with by plate
（31）.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562577X | 2018-06-04 | ||
| CN201810562577 | 2018-06-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108908292A true CN108908292A (en) | 2018-11-30 |
| CN108908292B CN108908292B (en) | 2021-05-11 |
Family
ID=64425451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810722393.5A Expired - Fee Related CN108908292B (en) | 2018-06-04 | 2018-07-04 | Series-parallel decoupling machine tool capable of realizing two-rotation three-movement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108908292B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109759867A (en) * | 2019-03-07 | 2019-05-17 | 安徽工程大学 | Series parallel type six degree of freedom full decoupling flexible jig |
| CN112318182A (en) * | 2020-11-15 | 2021-02-05 | 浙江工业大学 | Five-degree-of-freedom series-parallel machine tool |
| CN115157219A (en) * | 2022-07-21 | 2022-10-11 | 中国地质大学（武汉） | Five-degree-of-freedom super-large working space hybrid composite processing robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101417391A (en) * | 2008-11-19 | 2009-04-29 | 浙江工业大学 | Five freedom-degree parallel lathe |
| CN104875192A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism |
| WO2015168799A1 (en) * | 2014-05-08 | 2015-11-12 | UNIVERSITé LAVAL | Parallel mechanism with kinematically redundant actuation |
| CN107756217A (en) * | 2016-08-22 | 2018-03-06 | 香港理工大学 | A kind of vertical connection in series-parallel burnishing machine |
-
2018
- 2018-07-04 CN CN201810722393.5A patent/CN108908292B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101417391A (en) * | 2008-11-19 | 2009-04-29 | 浙江工业大学 | Five freedom-degree parallel lathe |
| WO2015168799A1 (en) * | 2014-05-08 | 2015-11-12 | UNIVERSITé LAVAL | Parallel mechanism with kinematically redundant actuation |
| CN104875192A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism |
| CN107756217A (en) * | 2016-08-22 | 2018-03-06 | 香港理工大学 | A kind of vertical connection in series-parallel burnishing machine |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109759867A (en) * | 2019-03-07 | 2019-05-17 | 安徽工程大学 | Series parallel type six degree of freedom full decoupling flexible jig |
| CN109759867B (en) * | 2019-03-07 | 2023-07-25 | 安徽工程大学 | Series-parallel six-degree-of-freedom full decoupling adjustable clamp |
| CN112318182A (en) * | 2020-11-15 | 2021-02-05 | 浙江工业大学 | Five-degree-of-freedom series-parallel machine tool |
| CN112318182B (en) * | 2020-11-15 | 2024-05-28 | 浙江工业大学 | Five-degree-of-freedom series-parallel machine tool |
| CN115157219A (en) * | 2022-07-21 | 2022-10-11 | 中国地质大学（武汉） | Five-degree-of-freedom super-large working space hybrid composite processing robot |
| CN115157219B (en) * | 2022-07-21 | 2024-05-10 | 中国地质大学（武汉） | Five-degree-of-freedom super-large working space hybrid composite machining robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108908292B (en) | 2021-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106736723B (en) | A kind of sheet material workpiece sets middle jig | |
| CN205394043U (en) | Four degree of freedom milling fixtures | |
| CN108908292A (en) | A kind of mixed connection decoupling lathe that two turn of three shifting can be achieved | |
| CN107283103B (en) | Multi-degree-of-freedom vehicle body flexible positioning device and flexible assembly platform | |
| CN109877813B (en) | Large-rotation-angle 2T2R four-degree-of-freedom parallel mechanism | |
| CN105058382A (en) | Novel series-parallel five-axis-linkage intelligent welding platform | |
| CN113319827A (en) | Five-degree-of-freedom complete parallel machining robot | |
| CN106426092A (en) | Movement redundancy five-freedom-degree parallel serial robot | |
| CN105364913A (en) | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism | |
| CN103832194B (en) | Auto-compensation CNC engraving machine | |
| CN103357584A (en) | Double-welding-arm pickup mechanism and chip sorting machine | |
| CN105149850B (en) | A kind of multi-functional gripping apparatus | |
| CN110053026B (en) | Five-freedom-degree series-parallel robot for workpiece machining | |
| CN106272362B (en) | A kind of four-degree-of-freedom robot mechanism of achievable complete cycle revolution | |
| CN110116399A (en) | A kind of Three Degree Of Freedom 2PRU-PSR parallel institution | |
| CN208557268U (en) | Positioning mechanism | |
| CN111152245A (en) | Robotized intelligent tool system | |
| CN110695716A (en) | Five-freedom-degree redundant drive hybrid machine tool for machining complex curved surface of large workpiece | |
| CN107378594B (en) | A kind of five-freedom parallel machine tool | |
| CN111230842B (en) | Parallel manipulator with coupling degree of 1 and forward position resolution and motion decoupling | |
| CN101347911A (en) | Numerical control reverse direction machining aggregate machinery | |
| CN201264181Y (en) | Numerical control reverse direction machining aggregate machinery | |
| CN108637514A (en) | A kind of conllinear flexible welding device of multi-vehicle-type white body | |
| CN110076502A (en) | Door-plate welding system | |
| CN208083860U (en) | Teaching type five-axle number control machine tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210511 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |