CN110303475A - A kind of four branch's three freedom redundancy drive-type parallel connection processing heads - Google Patents
A kind of four branch's three freedom redundancy drive-type parallel connection processing heads Download PDFInfo
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- CN110303475A CN110303475A CN201910576246.6A CN201910576246A CN110303475A CN 110303475 A CN110303475 A CN 110303475A CN 201910576246 A CN201910576246 A CN 201910576246A CN 110303475 A CN110303475 A CN 110303475A
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- 230000007246 mechanism Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000003754 machining Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 210000005056 cell body Anatomy 0.000 description 1
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Classifications
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- 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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a kind of four branch's three freedom redundancy drive-type parallel connection processing heads, including electro spindle, machine table, frame, three identical driving branches and redundant drive branch, the driving branch includes motor-retarder module one, turntable one, connecting rod one, free bearing one and free bearing two, the motor-retarder module one carries out rotate driving to turntable one by the 5th revolute pair, one both sides of edges of turntable is equipped with a pair of of trunnion, it is hinged by the 4th revolute pair and one one end of connecting rod, the other end of connecting rod one is hinged by third revolute pair with free bearing one, free bearing one and free bearing two are carried out by the first revolute pair and the second revolute pair hinged respectively, first revolute pair, the pivot center of second revolute pair and third revolute pair is mutually orthogonal.The present invention can improve the load state of driver by the structure type of redundant drive, and bearing capacity is strong, the overload problem of driver when avoiding processing complex large-sized workpiece.
Description
Technical field
The present invention relates to a kind of four branch's three freedom redundancy drive-type parallel connection processing heads, belong to parallel institution neck
Domain.
Background technique
With the continuous development of China's defense industry, the large complicated part of required processing is more and more, it is required that adding
Construction equipment need to have very high overall stiffness and machining accuracy simultaneously.Process equipment can be divided into two major classes according to structure type,
That is series and parallel type.Traditional tandem lathe advantage mainly occupies little space, and working space is big, but its rigidity can not
Meet the processing request of large-scale workpiece；Although parallel lathe can guarantee the requirement of rigidity and precision aspect, its occupied space
Greatly, operating space is relatively small, will cause the waste of resource.Therefore, in conjunction with the advantage and disadvantage of tandem lathe and parallel lathe,
In order on the basis of guaranteeing rigidity, occupied space as small as possible, choosing has the small-sized of modularization and integrability
The form of processing head in parallel can be combined with modularization and integration with cascoded rail, composition serial-parallel mirror form
Multi-axis processing center has good processing effect.Wherein, the type selecting of processing head in parallel is to determine that such multi-axis processing center adds
The key of work performance.
Currently, more mature processing head in parallel has Tricept processing module, Exechon processing module, Z3 head in the market
With A3 etc..Wherein, Tricept processing module and Exechon processing module are asymmetric redundancy actuating mechanism, such mechanism
The isotropism of rigidity is weaker, and control difficulty is higher, while its occupied space is larger；Z3 and A3 are symmetrical non-superfluous
Remaining driving mechanism, such mechanism are more demanding to the load performance of driving, weaker to the adaptability of processing environment.
Summary of the invention
Present invention solves the technical problem that:
Be directed to currently there are freedom degree parallel connection processing head, when processing bulk loads workpiece, driver
Load capacity it is limited, the overall stiffness of mechanism is relatively low, while there are Singularities for mechanism itself, and are taken up too much space, therefore
The limited problem of its operating performance proposes a kind of four branch's three freedom redundancy drive-type parallel connection processing heads, promotes existing three
The overall stiffness of freedom degree parallel connection processing head, and its occupied space is reduced as far as possible, realize four branch's Three Degree Of Freedoms to machine table
Redundant drive.
Technical solution of the invention:
A kind of four branch's three freedom redundancy drive-type parallel connection processing heads, including electro spindle, machine table, frame, three phases
Same driving branch and redundant drive branch, the driving branch includes motor-retarder module one, turntable one, connecting rod
One, free bearing one and free bearing two, the motor-retarder module one carry out rotate driving to turntable one by the 5th revolute pair, turn
One both sides of edges of disk is equipped with a pair of of trunnion, is hinged by the 4th revolute pair and one one end of connecting rod, and the other end of connecting rod one is logical
It crosses third revolute pair to be hinged with free bearing one, free bearing one is cut with scissors by the first revolute pair and the second revolute pair respectively with free bearing two
It connects, free bearing two is fixed in machine table, and machine table center is equipped with electro spindle；First revolute pair, the second revolute pair and third
The pivot center of revolute pair is mutually orthogonal；
Redundant drive branch includes redundant drive unit and ball hinge, and redundant drive unit one end is fixed on frame, separately
One end is hinged by ball-joint and ball hinge；
One: three driving branch form of being centrosymmetric of scheme is fixed on the inside of frame, and it throws along frame bottom surface direction
The center line of shadow is mutually 120 °；The center line of the redundant drive branch under initial configuration with machine table center line weight
It closes, ball hinge center line is consistent with electro spindle centerline direction always；
Or two: three driving branches of scheme and a redundant drive branch form of being centrosymmetric are fixed on the inside of frame,
And it is orthogonal along adjacent two center line of frame bottom surface direction projection.
The redundant drive unit includes inner frame, telescopic rod and electric cylinder cylinder body, trunnion and frame on the outside of the inner frame
Frame is hinged by the 6th revolute pair, hinged by the 7th revolute pair with the trunnion on the outside of electric cylinder cylinder body on the inside of inner frame, electronic
Cylinder cylinder body and telescopic rod are by prismatic pair progress redundant drive, and telescopic rod one end is hinged by spherical hinge and ball hinge, ball hinge
It is fixed in the mounting base of electro spindle.
The crossing point of axes of the 6th revolute pair of redundant drive branch and the 7th revolute pair is always in the axial centre of frame
On line, electric cylinder cylinder body center line is overlapped under initial configuration with machine table center line, ball hinge center line always with
Electro spindle centerline direction is consistent.
The redundant drive unit includes motor-retarder module two, turntable two, connecting rod two, connecting rod three, free bearing three and hinge
Seat four, the motor-retarder module two carry out rotate driving to turntable two by the 6th revolute pair, and two both sides of edges of turntable is set
There is a pair of of trunnion, be hinged by the 7th revolute pair and one end of connecting rod two, the other end of connecting rod two passes through the 8th revolute pair
It is hinged with one end of connecting rod three, the other end of connecting rod three is hinged by the 9th revolute pair with free bearing three, free bearing three and free bearing
Four are carried out hingedly by the tenth revolute pair and the 11st revolute pair respectively, and free bearing four is fixed in machine table.
Three driving branches and a redundant drive branch form of being centrosymmetric are fixed on the inside of frame, and along frame
Adjacent two center line of frame bottom surface direction projection is orthogonal；The axis of 7th revolute pair and the 8th revolute pair hangs down mutually
Directly.
The axis of 9th revolute pair, the tenth revolute pair and the 11st revolute pair is mutually orthogonal.
The motor-retarder module one can be hydraulic-driven, and three orthogonal revolute pairs can be replaced mutually with spherical hinge.
The angle change range of angle is 15 ° -75 ° between axis and electro spindle axis where driving branch.
Turntable one, turntable two diameter be less than connecting rod one length.
The sum of length of connecting rod two and connecting rod three is greater than the length of connecting rod one.
The present invention compared with prior art the advantages of it is as follows:
(1) present invention can improve the load state of driver, bearing capacity is strong, keeps away by the structure type of redundant drive
The overload problem of driver when exempting to process complex large-sized workpiece；
(2) present invention realizes the mobile three-dimensional output of two rotations one using four driving inputs, realizes that same movement has
More driving input modes, it is unusual to avoid moment existing for single branch's list drive form, can hoisting mechanism to complex environment
Adaptability；
(3) branch and redundant drive branch is respectively driven can be driven and be transmitted by cradle head in the present invention, it is maximum in this way
Limit reduces it and is taken up space, and has stronger modularization and integration；
(4) the redundant drive structure type being arranged symmetrically is taken in the present invention, compared to conventional redundancy drive form,
Under the premise of hoisting mechanism overall stiffness, the difficulty of force-location mix control can effectively reduce.
Detailed description of the invention
Fig. 1 is 1 general structure schematic diagram of the embodiment of the present invention；
Fig. 2 is 2 general structure schematic diagram of the embodiment of the present invention；
Fig. 3 is that nonredundancy of the present invention drives branched structure schematic diagram；
Fig. 4 is 1 redundant drive branched structure schematic diagram of the embodiment of the present invention；
Fig. 5 is 2 redundant drive branched structure schematic diagram of the embodiment of the present invention.
Specific embodiment
Specific embodiments of the present invention are further described in detail with reference to the accompanying drawing.
As shown in attached drawing 1,3,4, this programme configuration includes three identical driving branches, redundant drive branch, a frames
Frame and processing platform；Three driving branches are symmetrically distributed on the inside of frame, and each driving branch is rotate driving, each to be driven
Joint is also revolute pair, is reduced and is taken up space with this；Each driving branch includes rotate driving unit, turntable, connecting rod, turntable
Center be set as through-hole, and hinged by revolute pair and rotate driving main shaft, disk edge passes through revolute pair equipped with trunnion
Hinged with connecting rod, connecting rod is hinged by three orthogonal revolute pairs with processing platform；
Redundant drive branch includes inner frame, redundant drive unit and ball hinge, on the outside of inner frame and inside respectively with frame
Frame and redundant drive cell body are hinged by revolute pair, and two revolute pair crossing point of axes are on frame longitudinal center line, electric
Dynamic cylinder cylinder body and telescopic rod are by prismatic pair progress redundant drive, and telescopic rod is hinged with ball hinge by spherical hinge, and ball hinge is solid
Even and in electro spindle mounting base；Electro spindle is housed in machine table, two rotations one under symmetrical four branch redundant drive can be realized
The machining function of moving direction.
As shown in attached drawing 2,3,5, this programme configuration includes three identical driving branches, redundant drive branch, a frames
Frame and processing platform；Three driving branches and redundant drive branch are symmetrically distributed on the inside of frame, and each driving branch is
Rotate driving, each driving joint are also revolute pair, reduce it to greatest extent with this and are taken up space；The structure of each driving branch
Part composition and connection type are consistent with technical solution 1；Redundant drive branch mainly include redundant drive unit, turntable,
Two connecting rods and two free bearings, the center of turntable are set as through-hole, and, turntable side hinged by revolute pair and redundant drive main shaft
Edge is equipped with trunnion, and hinged by revolute pair and connecting rod one, and the other end of connecting rod one is hinged by revolute pair with connecting rod two, even
The other end of bar two is hinged by revolute pair with free bearing one, and free bearing one and free bearing two pass through the rotation of two axis vertical take-offs respectively
Pair carries out hingedly, and free bearing two is fixed in machine table；Electro spindle is housed in machine table, can be matched on electro spindle according to process requirements
Corresponding cutter is set, to realize the machining function of two one moving directions of rotation under four branch's redundant drives.
Embodiment 1
As shown in attached drawing 1,3,4, this programme is by three identical driving branches, a redundant drive branch, 16 and of frame
Machine table 2 is constituted；Three driving branches are distributed in 16 inside of frame, and every driving branch is that motor-retarder module 1 is logical
Cross the 5th revolute pair R5Turntable 1 is driven, one 6 both sides of edges of turntable is equipped with a pair of of trunnion, passes through the 4th revolute pair R4
It is hinged with connecting rod 1, the other end of connecting rod 1 passes through third revolute pair R3It is hinged with free bearing 1, free bearing 1 and hinge
Seat 23 passes through the first revolute pair R respectively1With the second revolute pair R2It carries out hingedly, the free bearing 23 of each branch is evenly arranged on machine table 2 one
Side；Redundant drive unit 9 mainly includes electric cylinder cylinder body and telescopic rod 11, inner frame 10, and 10 outside of inner frame and frame 16 are logical
Cross the 6th revolute pair R6Hingedly, 10 inside of inner frame passes through the 7th revolute pair R with electric cylinder cylinder trunnion7Hingedly, electric cylinder cylinder body
Redundant drive is carried out by prismatic pair P with telescopic rod 11, telescopic rod 11 is hinged by spherical hinge S and ball hinge 12, ball hinge 12
In connected and 1 mounting base of electro spindle；2 center of machine table is equipped with electro spindle 1, can be configured on electro spindle 1 according to process requirements pair
Cutter is answered, to realize the machining function of two one moving directions of rotation of redundant drive form.
Embodiment 2
As shown in attached drawing 2,3,5, this programme is by three identical driving branches, a redundant drive branch, 16 and of frame
Machine table 2 is constituted, each that branch and redundant drive branch is driven to be fixed on 16 inside of frame in the form of central symmetry；Each driving branch
Type of attachment be motor-retarder module 1 pass through the 5th revolute pair R5Turntable 1 is driven, one 6 edge two of turntable
Side is equipped with a pair of of trunnion, passes through the 4th revolute pair R4It is hinged with one end of connecting rod 1, the other end of connecting rod 1 passes through
Third revolute pair R3It is hinged with free bearing 1, free bearing 1 and free bearing 23 pass through the first revolute pair R respectively1With the second revolute pair R2
It carries out hingedly, the free bearing 23 of each branch is evenly arranged on 2 side of machine table；Redundant drive unit 9 mainly includes motor-retarder mould
Block 2 22, turntable 2 17, connecting rod 2 18, connecting rod 3 19, free bearing 3 20 and free bearing 4 21, motor-retarder module 2 22 pass through
6th revolute pair R6Rotate driving is carried out to turntable 2 17,2 17 both sides of edges of turntable is equipped with a pair of of trunnion, passes through the 7th turn
Dynamic secondary R7It is hinged with 2 18 one end of connecting rod, the other end of connecting rod 2 18 passes through the 8th revolute pair R8It is mutually cut with scissors with 3 19 one end of connecting rod
It connects, the other end of connecting rod 3 19 passes through the 9th revolute pair R9It is hinged with free bearing 3 20, free bearing 3 20 leads to respectively with free bearing 4 21
Cross the tenth revolute pair R10With the 11st revolute pair R11It carries out hingedly, free bearing 4 21 is fixed in machine table 2；It is equipped in machine table 2
Electro spindle 1 can configure corresponding cutter according to process requirements on electro spindle 1.
In conclusion adding for two one moving directions of rotation under four branch's redundant drive forms may be implemented using the present invention
Work function.
Any feature disclosed in this specification (including any accessory claim, abstract and attached drawing), except non-specifically chatting
It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only
It is an example in a series of equivalent or similar characteristics.
The invention is not limited to specific embodiments above-mentioned.The present invention, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (10)
1. a kind of four branch's three freedom redundancy drive-type parallel connection processing heads, it is characterised in that: including electro spindle (1), machine table
(2), frame (16), three identical driving branches and redundant drive branch, the driving branch includes motor-retarder
Module one (8), turntable one (6), connecting rod one (5), free bearing one (4) and free bearing two (3), the motor-retarder module one (8) are logical
Cross the 5th revolute pair (R5) rotate driving is carried out to turntable one (6), turntable one (6) both sides of edges is equipped with a pair of of trunnion, passes through
4th revolute pair (R4) be hinged with connecting rod one (5) one end, the other end of connecting rod one (5) passes through third revolute pair (R3) and free bearing
One (4) are hinged, and free bearing one (4) and free bearing two (3) pass through the first revolute pair (R respectively1) and the second revolute pair (R2) cut with scissors
It connects, free bearing two (3) is fixed on machine table (2), and machine table (2) center is equipped with electro spindle (1)；First revolute pair (the R1)、
Second revolute pair (R2) and third revolute pair (R3) pivot center it is mutually orthogonal；
Redundant drive branch includes redundant drive unit (9) and ball hinge (12), and redundant drive unit (9) one end is fixed on frame
(16) on, the other end is hinged by ball-joint (S) and ball hinge (12)；
One: three driving branch form of being centrosymmetric of scheme is fixed on the inside of frame (16), and it is along frame (16) bottom surface side
120 ° are mutually to the center line of projection；The center line of the redundant drive branch is under initial configuration and in machine table (2)
Heart line is overlapped, and ball hinge (12) center line is consistent with electro spindle (1) centerline direction always；
Or two: three driving branches of scheme and a redundant drive branch form of being centrosymmetric are fixed on the inside of frame (16),
And it is orthogonal along adjacent two center line of frame (16) bottom surface direction projection.
2. a kind of four branches three freedom redundancy drive-type parallel connection processing head according to claim 1, it is characterised in that: institute
Stating redundant drive unit (9) includes inner frame (10), telescopic rod (11) and electric cylinder cylinder body, trunnion on the outside of the inner frame (10)
Pass through the 6th revolute pair (R with frame (16)6) hingedly, pass through the 7th with the trunnion on the outside of electric cylinder cylinder body on the inside of inner frame (10)
Revolute pair (R7) hingedly, electric cylinder cylinder body and telescopic rod (11) pass through prismatic pair (P) progress redundant drive, telescopic rod (11) one end
Hingedly by spherical hinge (S) and ball hinge (12), ball hinge (12) is fixed in the mounting base of electro spindle (1).
3. a kind of four branches three freedom redundancy drive-type parallel connection processing head according to claim 2, it is characterised in that: institute
State the 6th revolute pair (R of redundant drive branch6) and the 7th revolute pair (R7) crossing point of axes always in the axial centre of frame (16)
On line, electric cylinder cylinder body center line is overlapped under initial configuration with machine table (2) center line, ball hinge (12) center line
Always consistent with electro spindle (1) centerline direction.
4. a kind of four branches three freedom redundancy drive-type parallel connection processing head according to claim 1, it is characterised in that: institute
State redundant drive unit (9) include motor-retarder module two (22), turntable two (17), connecting rod two (18), connecting rod three (19),
Free bearing three (20) and free bearing four (21), the motor-retarder module two (22) pass through the 6th revolute pair (R6) to turntable two
(17) rotate driving is carried out, turntable two (17) both sides of edges is equipped with a pair of of trunnion, passes through the 7th revolute pair (R7) and connecting rod two
(18) one end is hinged, and the other end of connecting rod two (18) passes through the 8th revolute pair (R8) mutually cut with scissors with one end of connecting rod three (19)
It connects, the other end of connecting rod three (19) passes through the 9th revolute pair (R9) be hinged with free bearing three (20), free bearing three (20) and free bearing four
(21) pass through the tenth revolute pair (R respectively10) and the 11st revolute pair (R11) carry out hingedly, free bearing four (21) is fixed on machine table
(2) on.
5. a kind of four branches three freedom redundancy drive-type parallel connection processing head according to claim 4, it is characterised in that: institute
It states three driving branches and a redundant drive branch form of being centrosymmetric is fixed on the inside of frame (16), and along frame (16)
Adjacent two center line of bottom surface direction projection is orthogonal；7th revolute pair (the R7) and the 8th revolute pair (R8) axis it is mutual
It is perpendicular.
6. a kind of four branches three freedom redundancy drive-type parallel connection processing head according to claim 5, it is characterised in that: institute
State the 9th revolute pair (R9), the tenth revolute pair (R10) and the 11st revolute pair (R11) axis it is mutually orthogonal.
7. a kind of four branches three freedom redundancy drive-type parallel connection processing head according to any one of claim 1-3,
Be characterized in that: the motor-retarder module one (8) can be hydraulic-driven, and three orthogonal revolute pairs can be mutual with spherical hinge (S)
Replacement.
8. four branch's three freedom redundancy drive-type parallel connection processing head of one kind described in any one of -7 according to claim 1,
Be characterized in that: the angle change range of angle is 15 ° -75 ° between axis and electro spindle axis where driving branch.
9. a kind of four branches three freedom redundancy drive-type parallel connection processing head according to claim 1, it is characterised in that: turn
Disk one (6), turntable two (17) diameter be less than connecting rod one (5) length.
10. a kind of four branches three freedom redundancy drive-type parallel connection processing head according to claim 1, it is characterised in that:
The sum of length of connecting rod two (18) and connecting rod three (19) is greater than the length of connecting rod one (5).
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