CN112025333A - Three-degree-of-freedom working platform for machining steel die - Google Patents

Three-degree-of-freedom working platform for machining steel die Download PDF

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Publication number
CN112025333A
CN112025333A CN202010874778.0A CN202010874778A CN112025333A CN 112025333 A CN112025333 A CN 112025333A CN 202010874778 A CN202010874778 A CN 202010874778A CN 112025333 A CN112025333 A CN 112025333A
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CN
China
Prior art keywords
pair
branched chain
platform
degree
iii
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.)
Withdrawn
Application number
CN202010874778.0A
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Chinese (zh)
Inventor
张银生
张宇霆
薛晓
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
JIANGSU YINXU TUNNEL MACHINERY CO Ltd
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JIANGSU YINXU TUNNEL MACHINERY CO Ltd
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Publication date
Application filed by JIANGSU YINXU TUNNEL MACHINERY CO Ltd filed Critical JIANGSU YINXU TUNNEL MACHINERY CO Ltd
Priority to CN202010874778.0A priority Critical patent/CN112025333A/en
Publication of CN112025333A publication Critical patent/CN112025333A/en
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
    • B23Q1/017—Arrangements of ways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Forging (AREA)

Abstract

A three-degree-of-freedom working platform for steel die machining comprises a movable platform (1), a static platform (0), an I-th branched chain, an II-th branched chain and an III-th branched chain, wherein the I-th branched chain comprises a first sliding block and a first revolute pair (R)32) And revolute pair two (R)33) A universal joint formed in series; ball pair one (S) at one end of the second branched chain13) A second ball pair (S) connected to the third branched chain and the other end of the second branched chain12) Connected to the second slide block, and the second slide block and the first moving pair (P) for the static platform (0)11) Connecting; ball pair III (S) at one end of III branched chain23) A ball pair IV (S) connected with the other end of the movable platform (1) and the other end of the III branched chain22) Connected to the third slide block, and the second moving pair (P) for the third slide block and the static platform (0)21) And (4) connecting. The three-freedom-degree working platform has zero mechanism coupling degree and is of a symbolic typePosition positive solution, input-output motion decoupling, and easy processing and manufacture.

Description

Three-degree-of-freedom working platform for machining steel die
Technical Field
The invention relates to a three-degree-of-freedom working platform for steel die machining, in particular to a three-degree-of-freedom working platform which is provided with a new zero coupling degree, has a symbolic position forward solution and can change a space pose for steel die machining and the like.
Background
The steel mould is a necessary device for casting the concrete pipe piece, and in the process of processing and manufacturing the steel mould, the processes of welding, polishing, chamfering, drilling and the like are always required to be continuously carried out on the steel mould, so that the position and the posture of the steel mould in the space are required to be frequently changed. At present, the processing is usually completed by matching with manpower, a crane and the like, the labor capacity of workers is large and labor is wasted, the processing precision is poor, the production efficiency is low, and an automatic device is urgently needed for completion. Therefore, the invention provides an economic and practical three-degree-of-freedom working platform, and the three-degree-of-freedom pose transformation of the steel die processing working platform in space is easily realized.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a novel three-degree-of-freedom working platform which has zero coupling degree, has symbolic position forward solution and can change the spatial pose. The working platform has the advantages of simple structure, zero coupling degree, symbolic kinematics positive solution, partial motion decoupling and the like.
The invention has the technical scheme that the three-degree-of-freedom working platform for steel die machining comprises a movable platform (1), a static platform (0), an I branched chain, an II branched chain and an III branched chain, and is characterized in that: the first branched chain comprises a first sliding block and a first driven rotating pair (R)32) And revolute pair two (R)33) The universal joint is formed by connecting in series, and the bottom side of the first sliding block is provided with a third sliding pair (P)31) Connected with the static platform (0), the upper side of the first sliding block uses a first revolute pair (R)32) Connected and revolute pair two (R)33) Is connected with one end of the movable platform (1); ball pair one (S) at one end of the second branched chain13) A second ball pair (S) connected to the third branched chain and the other end of the second branched chain12) Connected to the second slide block, and the second slide block and the first moving pair (P) for the static platform (0)11) Connecting; ball pair III (S) at one end of III branched chain23) A ball pair IV (S) connected with the other end of the movable platform (1) and the other end of the III branched chain22) Connected to the third slide block, and the second moving pair (P) for the third slide block and the static platform (0)21) And (4) connecting.
The three-degree-of-freedom working platform for machining the steel die is characterized in that: moving pair one (P) on the static platform (0)11) And a sliding pair II (P)21) On the same linear guide rail, a third moving pair (P)31) On another parallel linear guide.
The three-degree-of-freedom working platform for machining the steel die is characterized in that: the mechanism coupling degree is zero, and the device has a symbolic position positive solution and input-output part motion decoupling.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention.
Detailed Description
The technique of the present invention is further illustrated by the accompanying drawings and examples.
The working platform shown in fig. 1 may be an embodiment of the present invention, and the technical solution is as follows: a three-degree-of-freedom working platform for steel die machining comprises a movable platform 1, a static platform 0, an I-th branched chain, an II-th branched chain and a III-th branched chain, wherein the I-th branched chain comprises a first sliding block and a first revolute pair R32And revolute pair II R33The universal joint is formed by connecting in series, and the bottom side of the first sliding block is provided with a sliding pair III P31Is connected with the static platform 0, and the upper side of the first sliding block uses a revolute pair R32Connected and revolute pair two R33Is connected with one end of the movable platform 1; ball pair one S at one end of II branched chain13A spherical pair II S connected to the other end of the III branched chain and the II branched chain12A moving pair P connected to the second slide block and used for the second slide block and the static platform 011Connecting; third ball pair S at one end of III branched chain23A ball pair four S connected with the other end of the movable platform 1 and the other end of the III branched chain22Connected to the third slide block, and the third slide block and the static platform 0 use the second moving pair P21And (4) connecting.
Moving pair P on static platform 011And a sliding pair II P21The axes of the moving pair are on the same linear guide rail31On another parallel linear guide.
When moving one pair P11And a sliding pair II P21And moving pair III31When the three-freedom-degree working platform is driven, the movable platform 1 of the three-freedom-degree working platform can move along a linear guide rail and rotate around a first rotating pair R32And revolute pair II R33The spatial movement of the axis rotation can realize the spatial pose transformation of the steel die.
The three-degree-of-freedom working platform for machining the steel die has the advantages that: 1) the mechanism coupling degree is zero, and the sign type position positive solution is provided; 2) meanwhile, the input-output part motion decoupling performance is realized; 3) easy processing and manufacture, economy and practicality.

Claims (3)

1. The utility model provides a three degree of freedom work platforms for steel mould processing, contains and moves platform (1), quiet platform (0), the I branch chain, the II branch chain and the III branch chain, its characterized in that: the first branched chain comprises a first sliding block and a first driven rotating pair (R)32) And revolute pair two (R)33) The universal joint is formed by connecting in series, and the bottom side of the first sliding block is provided with a third sliding pair (P)31) Connected with the static platform (0), the upper side of the first sliding block uses a first revolute pair (R)32) Connected and revolute pair two (R)33) Is connected with one end of the movable platform (1); ball pair one (S) at one end of the second branched chain13) A second ball pair (S) connected to the third branched chain and the other end of the second branched chain12) Connected to the second slide block, and the second slide block and the first moving pair (P) for the static platform (0)11) Connecting; ball pair III (S) at one end of III branched chain23) A ball pair IV (S) connected with the other end of the movable platform (1) and the other end of the III branched chain22) Connected to the third slide block, and the second moving pair (P) for the third slide block and the static platform (0)21) And (4) connecting.
2. The three-degree-of-freedom work platform for steel die machining according to claim 1, characterized in that: moving pair one (P) on the static platform (0)11) And a sliding pair II (P)21) On the same linear guide rail, a third moving pair (P)31) On another parallel linear guide.
3. The three-degree-of-freedom work platform for steel die machining according to claims 1 and 2, characterized in that its mechanical coupling degree is zero, and it has a symbolic position positive solution and input-output part motion decoupling.
CN202010874778.0A 2020-08-28 2020-08-28 Three-degree-of-freedom working platform for machining steel die Withdrawn CN112025333A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010874778.0A CN112025333A (en) 2020-08-28 2020-08-28 Three-degree-of-freedom working platform for machining steel die

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010874778.0A CN112025333A (en) 2020-08-28 2020-08-28 Three-degree-of-freedom working platform for machining steel die

Publications (1)

Publication Number Publication Date
CN112025333A true CN112025333A (en) 2020-12-04

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CN202010874778.0A Withdrawn CN112025333A (en) 2020-08-28 2020-08-28 Three-degree-of-freedom working platform for machining steel die

Country Status (1)

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CN (1) CN112025333A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113043228A (en) * 2021-03-22 2021-06-29 江苏宏达数控科技股份有限公司 Multi-station power tool rest posture adjusting detection platform and control method thereof
CN115043157A (en) * 2022-06-10 2022-09-13 南京航空航天大学 Multi-functional many sliders track conveying system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113043228A (en) * 2021-03-22 2021-06-29 江苏宏达数控科技股份有限公司 Multi-station power tool rest posture adjusting detection platform and control method thereof
CN115043157A (en) * 2022-06-10 2022-09-13 南京航空航天大学 Multi-functional many sliders track conveying system

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Application publication date: 20201204