CN110480602B - Two-rotation two-movement parallel machining swing head mechanism - Google Patents
Two-rotation two-movement parallel machining swing head mechanism Download PDFInfo
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- CN110480602B CN110480602B CN201910698452.4A CN201910698452A CN110480602B CN 110480602 B CN110480602 B CN 110480602B CN 201910698452 A CN201910698452 A CN 201910698452A CN 110480602 B CN110480602 B CN 110480602B
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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
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
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Abstract
The invention discloses a two-rotation two-movement parallel machining swinging head mechanism which comprises a fixed cylinder, four groups of linear driving modules, four connecting rod branches and a movable platform with a machining main shaft. Four groups of linear driving modules are fixed on the fixed cylinder, wherein one group of first linear driving modules and one group of second linear driving modules are fixed in the bilateral symmetry plane of the fixed cylinder, and two groups of second linear driving modules are fixed on two sides of the bilateral symmetry plane of the fixed cylinder; the extending cylinders of the second linear driving module and the third linear driving module have the same structure and penetrate through the extending cylinder of the first linear driving module; one ends of the two first connecting rod branches are respectively connected with the moving ends of the two groups of first linear driving modules through rotating hinges, one ends of the two second connecting rod branches are respectively connected with the moving ends of the two groups of second linear driving modules through spherical hinges, and the other ends of the connecting rod branches are connected with the moving platform through universal hinges. The invention has good dynamic performance, high rigidity and high processing precision, and realizes the curved surface processing.
Description
Technical Field
The invention relates to the field of machining, in particular to a two-rotation two-movement parallel machining swinging head mechanism.
Background
Compared with a series mechanism, the parallel machining head has the advantages of high rigidity, high precision, multiple degrees of freedom and the like, can realize curved surface machining when being applied to the field of machining, effectively improves the machining precision, and has important influence on the industries of aerospace, ships, precision instruments, medical equipment and the like in one country.
At present, the parallel machining head is mostly a three-degree-of-freedom parallel mechanism, such as a Z3 spindle head. In the prior art, patent document No. 200910228104.7 discloses a parallel mechanism capable of achieving two-dimensional translation and two-dimensional rotation, which includes a fixed frame, a movable platform and four branched chain structures, wherein the branched chain structure in the invention is mainly composed of a linear unit and a fixed long rod, the four branched chains are uniformly arranged in a peripheral shape, so that the singularity problem exists, and the requirement on a servo motor is high in practical application, and even the servo motor is damaged. Patent document No. 201010507587.7 discloses a spatial four-degree-of-freedom parallel mechanism and a painting robot, wherein the painting operation mechanism is a four-branch parallel mechanism, four linear driving branches directly drive a movable platform, the driving rod swings to occupy a large space and is not suitable for serving as a mechanism of a parallel machining head, and the mechanism has a singularity problem in an arrangement form and a poor motion state. The problem of singularity is solved, and the key of applying the parallel machining head to production practice is.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a two-rotation two-movement parallel machining swinging head mechanism which can be used for machining a four-freedom-degree parallel machining swinging head with complex curved surface, high rigidity, low cost and convenient installation.
The technical scheme of the invention is as follows:
a two-rotation two-movement parallel processing swing head mechanism comprises a fixed cylinder, a linear driving module, a connecting rod and a movable platform; the movable platform is provided with a processing main shaft, the processing main shaft is arranged on a first surface of the movable platform, the connecting rod is connected to a second surface of the movable platform in a rotating mode, the linear driving module comprises a first linear driving module, a second linear driving module and a third linear driving module, a group of first linear driving modules and a group of second linear driving modules are fixed in the bilateral symmetry plane of the fixed cylinder, and two groups of third linear driving modules are fixed on two sides of the bilateral symmetry plane of the fixed cylinder.
Preferably, the first ends of the two first connecting rods are respectively connected with the first linear driving module and the second linear driving module through rotating hinges, the second end of each first connecting rod is connected with the movable platform through a universal hinge, the first ends of the two second connecting rods are respectively connected with the two groups of third linear driving modules through universal hinges, and the second end of each second connecting rod is connected with the movable platform through a spherical hinge.
Preferably, two of the first links are arranged to cross.
Preferably, the first linear driving module and the second linear driving module are fixed in a left-right symmetrical plane of the fixed cylinder, and the two groups of third linear driving modules are symmetrically fixed on two sides of the left-right symmetrical plane of the fixed cylinder; the first ends of the two first connecting rods are respectively connected with the moving ends of the first linear driving module and the second linear driving module through rotating hinges, and the first ends of the two second connecting rods are respectively connected with the moving ends of the two groups of third linear driving modules through spherical hinges; the second ends of the first connecting rods and the second ends of the second connecting rods are connected with the movable platform through universal hinges, the four universal hinge connection points are uniformly arranged on the second surface of the movable platform along the circumference, and the two first connecting rods are arranged in a crossed mode.
Preferably, one of the first links is provided with a through slot along the length direction thereof, the other first link passes through the through slot of the first link, and the two first links do not interfere with each other during movement.
Preferably, four groups of linear driving modules, namely a first linear driving module and a second linear driving module, are fixed on the fixed cylinder and are fixed in the bilateral symmetry plane of the fixed cylinder, and two groups of third linear driving modules are symmetrically fixed on two sides of the bilateral symmetry plane of the fixed cylinder; the first ends of the two first connecting rods are respectively connected with the moving ends of the first linear driving module and the second linear driving module through rotating hinges, and the first ends of the two second connecting rods are respectively connected with the moving ends of the two groups of third linear driving modules through spherical hinges; the second end of each first connecting rod and the second end of each second connecting rod are connected with the movable platform through universal hinges, and the four universal hinge connection points are uniformly arranged on the second surface of the movable platform along the circumference.
Preferably, each of the first links and each of the second links do not intersect; the first connecting rods are symmetrically arranged, the second connecting rods are symmetrically arranged, and the connecting rods are not crossed.
Preferably, the four groups of linear driving modules are driving parts of the parallel processing head swinging mechanism, and a protrusion body is fixed at the moving end of the driving part; the first linear driving module and the third linear driving module have the same structure of the extending body and penetrate through the extending body of the second linear driving module; the structures of the extending bodies of the four groups of linear driving modules are the same.
Preferably, the first linear driving modules and the two groups of third linear driving modules are uniformly arranged along the circumference, and the second linear driving modules are symmetrical to the first linear driving modules about the circle center; four hinge connection points of the movable platform are uniformly arranged along the circumference; the two first connecting rods are equal in length and are arranged in a crossed manner; the lengths of the two second connecting rods are also equal, and the hinges at the two ends of the two second connecting rods can be arranged in an exchangeable mode.
Preferably, the number of the linear driving modules is four; the number of the connecting rods is four.
Compared with the prior art, the invention has the following advantages:
1. the invention effectively solves the problem of singularity of parallel processing heads by adjusting the position of the hinged point and the configuration of the crossed arrangement of the connecting rod branches, and has good motion performance.
2. Compared with a four-degree-of-freedom parallel machining head, the four-degree-of-freedom parallel machining head has the advantages that the number of motion guide rails required to be added is small and the motion is more flexible when the four-degree-of-freedom parallel machining head is applied to a five-axis machining center.
3. The invention has compact structure, small mass of the moving component, small inertia, good dynamic performance and high precision.
4. The invention takes the extending cylinder of the second linear driving module as the guide cylinder of the regional linear driving module, can effectively increase the rigidity of the processing head and ensure the precision.
The characteristics enable the invention to well meet the actual requirements of the processing head in engineering and realize high-speed and high-precision curved surface processing.
Drawings
FIG. 1 is a schematic three-dimensional view of a fixed cylinder of a two-rotation two-movement parallel processing head oscillating mechanism according to the present invention;
FIG. 2 is a schematic perspective view of a two-turn two-shift parallel processing head oscillating mechanism according to embodiment 1 of the present invention;
FIG. 3 is a schematic perspective view of the oscillating head mechanism of the present invention according to embodiment 2; and
fig. 4 is a schematic perspective view of a two-rotation two-movement parallel processing head oscillating mechanism according to embodiment 3 of the present invention.
Description of reference numerals: 1 denotes a fixed cylinder; 11 denotes a left-right symmetrical plane of the fixed cylinder; 21 denotes a second linear drive module; 22 denotes a first linear drive module; 31 and 32 denote first links; 41 and 42 denote a third linear drive module; 51 and 52 denote second links; and 6, a movable platform with a processing spindle.
Detailed Description
Exemplary embodiments, features and performance aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
Fig. 1 to 4 show a two-rotation two-movement parallel machining swinging head mechanism according to the present invention, which includes a fixed cylinder, a linear driving module, connecting rods and a movable platform, wherein a machining spindle is connected to the movable platform, and preferably, the machining spindle is disposed on an end surface of the movable platform far away from each connecting rod, i.e., the machining spindle is disposed on a first surface of the movable platform.
The second surface of the movable platform is connected with a first connecting rod branch and a second connecting rod branch, the first connecting rod branch comprises two first connecting rods, and the second connecting rod branch comprises two second connecting rods.
The four-axis linear driving mechanism comprises a fixed cylinder, four groups of linear driving modules, four connecting rods and a movable platform with a processing spindle; four groups of linear driving modules are fixed on the fixed cylinder, wherein one group of first linear driving modules and one group of second linear driving modules are fixed in the bilateral symmetry plane of the fixed cylinder, two groups of third linear driving modules are symmetrically fixed on two sides of the bilateral symmetry plane of the fixed cylinder, and the distance from the first linear driving modules is larger than the distance from the second linear driving modules in offset arrangement; one end of each of the two first connecting rods is respectively connected with the first linear driving module and the second linear driving module through a rotating hinge, and the other end of each of the two first connecting rods is connected with the driving platform through a universal hinge; one end of each of the two second connecting rod branches is connected with the two groups of third linear driving modules through spherical hinges respectively, and the other end of each of the two second connecting rod branches is connected with the movable platform through a universal hinge.
The four groups of linear driving modules are driving parts of the parallel processing head swinging mechanism, and a moving end of each linear driving module is fixedly provided with an extending sleeve; the extending sleeves of the first linear driving module and the second linear driving module are identical in structure and penetrate through the extending sleeve of the second linear driving module.
The extending sleeve structures of the four groups of linear driving modules are the same.
Four hinge joints of the movable platform are uniformly arranged along the circumference.
The two first connecting rods are arranged in a crossed mode, the two second connecting rods are equal in length, and the hinges at the two ends of the two second connecting rods are arranged in an exchangeable mode.
The two first links may be in a non-intersecting arrangement.
Example 1
In the schematic diagram of the two-rotation two-movement parallel processing head swinging mechanism shown in fig. 2, four groups of linear driving modules 21, 22, 41 and 42 are fixed on a fixed cylinder 1, wherein a second linear driving module 21 and a first linear driving module 22 are fixed in a bilateral symmetry plane of the fixed cylinder 1, two groups of third linear driving modules 41 and 42 are symmetrically fixed on two sides of the bilateral symmetry plane, the two groups of third linear driving modules 41 and 42 are arranged near the second linear driving module 21, the first linear driving module 22 and the two groups of third linear driving modules 41 and 42 penetrate through a moving end of the second linear driving module 21, first ends of two first connecting rods 31 and 32 are respectively connected with moving ends of the second linear driving module 21 and the first linear driving module 22 through rotating hinges, and the two first connecting rods 31 and 32 are arranged in a crossing manner; preferably, the two first links are not in contact. First ends of the two second connecting rods 51 and 52 are respectively connected with moving ends of the two groups of third linear driving modules 41 and 42 through spherical hinges; the second end of each first link 31, 32 and the second end of each second link 51, 52 are connected with the movable platform 6 with the processing spindle through universal hinges, and four universal hinge connection points are uniformly arranged along the circumference on the second surface of the movable platform.
Example 2
Fig. 4 is a schematic structural diagram of a two-rotation two-movement parallel processing head swinging mechanism according to a second embodiment of the present invention, wherein four sets of linear driving modules 21, 22, 41, and 42 are fixed on a fixed cylinder 1, a first linear driving module 22 and a second linear driving module 21 are fixed in a bilateral symmetry plane of the fixed cylinder 1, and two sets of third linear driving modules 41 and 42 are symmetrically fixed on two sides of the bilateral symmetry plane of the fixed cylinder 1; first ends of the two first connecting rods 31 and 32 are respectively connected with moving ends of the second linear driving module 21 and the first linear driving module 22 through rotating hinges, and first ends of the two second connecting rods 51 and 52 are respectively connected with moving ends of the two groups of third linear driving modules 41 and 42 through spherical hinges; the second end of each first link 31 and 32 and the second end of each second link 51 and 52 are connected with the movable platform 6 through universal hinges, and four universal hinge connection points are uniformly arranged on the second surface of the movable platform 6 along the circumference, and the two first links 31 and 32 are arranged in a crossed manner.
Further, the first link 31 is provided with a through slot along the length direction thereof, the first link 32 passes through the through slot of the first link 31, and the two first links 31 and 32 do not interfere with each other during the movement.
Preferably, the fixed cylinder 1 is pentagonal in shape.
Example 3
In the schematic diagram of a two-rotation two-movement parallel machining swinging head mechanism according to a third embodiment of the present invention shown in fig. 3, four sets of linear driving modules 21, 22, 41, and 42 are fixed on a fixed cylinder 1, a first linear driving module 21 and a second linear driving module 22 are fixed in a bilateral symmetry plane of the fixed cylinder 1, and two sets of third linear driving modules 41 and 42 are symmetrically fixed on two sides of the bilateral symmetry plane of the fixed cylinder; first ends of the two first connecting rods 31 and 32 are respectively connected with moving ends of the second linear driving module 21 and the first linear driving module 22 through rotating hinges, and first ends of the two second connecting rods 51 and 52 are respectively connected with moving ends of the two groups of third linear driving modules 41 and 42 through spherical hinges; the second end of each first link 31, 32 and the second end of each second link 51, 52 are connected to the movable platform 6 by a universal hinge, and four universal hinge connection points are evenly arranged circumferentially on the second surface of the movable platform 6.
According to a third embodiment of the invention, none of the first links and none of the second links intersect. The first connecting rods are symmetrically arranged, the second connecting rods are symmetrically arranged, and the connecting rods are not crossed.
Preferably, the fixed cylinder 1 is pentagonal in shape.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. Those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A two-rotation two-movement parallel processing swing head mechanism is characterized by comprising a fixed cylinder, a linear driving module, a connecting rod and a movable platform; the movable platform is provided with a processing main shaft, the processing main shaft is arranged on the first surface of the movable platform, the connecting rods are rotatably connected to the second surface of the movable platform, the linear driving module comprises a first linear driving module, a second linear driving module and two groups of third linear driving modules, the four groups of linear driving modules are driving parts of the parallel processing head swinging mechanism, an extending body is fixed at the moving end of the driving parts, and the connecting rods comprise two first connecting rods and two second connecting rods;
the first linear driving module and the second linear driving module are fixed in the bilateral symmetry plane of the fixed cylinder, and the two groups of third linear driving modules are symmetrically fixed on two sides of the bilateral symmetry plane of the fixed cylinder; the first ends of the two first connecting rods are respectively connected with the extending bodies of the first linear driving module and the second linear driving module through rotating hinges, and the first ends of the two second connecting rods are respectively connected with the extending bodies of the two groups of third linear driving modules through spherical hinges; the second end of each first connecting rod and the second end of each second connecting rod are connected with the movable platform through universal hinges, and four universal hinge connection points are uniformly arranged on the second surface of the movable platform along the circumference;
the first linear driving module and the third linear driving module have the same protrusion structure and penetrate through the protrusion of the second linear driving module.
2. The two-turn two-shift parallel processing head oscillating mechanism according to claim 1, wherein two of the first links are arranged crosswise.
3. The two-turn two-shift parallel processing head oscillating mechanism according to claim 2, wherein one of the first links is provided with a through groove along a length direction thereof, the other first link passes through the through groove of the first link, and the two first links do not interfere in movement.
4. The two-rotation two-movement parallel processing swing head mechanism of claim 1, wherein the first linear driving module and the two groups of third linear driving modules are uniformly arranged along a circumference, and the second linear driving module is symmetrical to the first linear driving module about the center of the circumference.
5. The two-rotation two-movement parallel processing head swinging mechanism according to claim 1, wherein the two first connecting rods are equal in length and are arranged in a cross manner; the lengths of the two second connecting rods are also equal, and the hinges at the two ends of the two second connecting rods can be arranged in an exchangeable mode.
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| CN201910698452.4A CN110480602B (en) | 2019-07-31 | 2019-07-31 | Two-rotation two-movement parallel machining swing head mechanism |
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| CN201910698452.4A CN110480602B (en) | 2019-07-31 | 2019-07-31 | Two-rotation two-movement parallel machining swing head mechanism |
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| KR102009291B1 (en) * | 2017-10-13 | 2019-08-09 | 한국기술교육대학교 산학협력단 | Apparatus of robot joint |
| CN113561157B (en) * | 2020-12-29 | 2023-07-21 | 燕山大学 | Two-rotation two-movement four-degree-of-freedom parallel mechanism |
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| JP2003172418A (en) * | 2001-12-07 | 2003-06-20 | Koji Kondo | Parallel mechanism robot arm (3) |
| 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 |
| CN100546775C (en) * | 2008-03-17 | 2009-10-07 | 燕山大学 | Dual drive four-freedom space parallel mechanism |
| CN101708612B (en) * | 2009-11-09 | 2011-07-27 | 天津大学 | Parallel mechanism with two-dimensional translation and two-dimensional rotation |
| CN201625979U (en) * | 2010-02-26 | 2010-11-10 | 深圳先进技术研究院 | Parallel robot with four degrees of freedom |
| WO2015136648A1 (en) * | 2014-03-12 | 2015-09-17 | 株式会社安川電機 | Parallel link mechanism, robot and assembly device |
| CN104029196B (en) * | 2014-05-21 | 2016-03-02 | 燕山大学 | A kind of three rotate one moves symmetrical four-freedom parallel mechanism |
| CN108972509B (en) * | 2018-08-07 | 2024-03-29 | 浙江理工大学 | Three-degree-of-freedom parallel mechanism with multiple operation modes |
| CN109732569A (en) * | 2019-03-19 | 2019-05-10 | 北华航天工业学院 | A kind of change born of the same parents' parallel institution |
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