CN1204998C - Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot - Google Patents
Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot Download PDFInfo
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- CN1204998C CN1204998C CN 02137856 CN02137856A CN1204998C CN 1204998 C CN1204998 C CN 1204998C CN 02137856 CN02137856 CN 02137856 CN 02137856 A CN02137856 A CN 02137856A CN 1204998 C CN1204998 C CN 1204998C
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- revolute pair
- parallel
- broad sense
- branch road
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Abstract
The present invention relates to eight kinds of four-freedom (two-translation and two-rotation) parallel mechanism. One kind of the parallel mechanism is composed of a movable platform, a static platform and two generalized braches, wherein the first generalized branch is formed by the series connection of plane six-rod loops of six rotary pairs and a rotary pair whose shaft line is overlapped with one center connecting wire of six rods; the second generalized branch is formed by the series connection of the plane six-rod loops of the six rotary pairs and two parallel rotary pairs whose one shaft line is overlapped with one center connecting wire of the six rods. The branches have the arrangement mode between the two platforms that the two rotary pairs which respectively belong to two generalized branches on the movable platform are arranged in parallel, the four rotary pairs which belong to the two generalized branches on the static platform are also arranged in parallel. The four rotary pairs on the static platform can be driven to control the output of the two-translation and two-rotation operation of the movable platform. The mechanism has the advantages of constant quantity of undesirable output, easy forward kinematics, simple structure, favorable rigidity, convenient manufacture, etc. The present invention provides a new machine for imaginary axis machine tools, robots, etc., and provides possibility for development and practicality.
Description
Technical field
The present invention relates to the executing agency of a kind of lathe and robot etc., specifically, is to provide a class novel two translations, two one-rotation parallel mechanisms for parallel-connection structure imaginary axis Digit Control Machine Tool and parallel robot etc.
Background technology
The parallel-connection structure Digit Control Machine Tool is meant with the parallel institution to be the lathe of executing agency, and this lathe has been considered to the revolution of machine tool structure since the twentieth century.Developed the model machine of this lathe at present in states such as the U.S., Japan, the parallel institution that is adopted is traditional Stewart (Stewart) mechanism.The mechanism that position and the attitude of this control cutter in the space changes mainly is made up of pedestal, motion platform and connecting rod, is linked to each other by connecting rod between pedestal and the motion platform, and the connecting rod two ends are respectively ball pair and universal joint.There are 6 connecting rods in this mechanism, but the adjustable length of connecting rod by controlling the length of 6 connecting rods, changes the pose of cutter in the space.But this class mechanism has a lot of guardian techniques to fail to solve fully.As, (1) forward kinematics solution difficulty; (2) the motion platform pose is defeated people's close coupling, is unfavorable for control; (3) mechanism's complexity makes its working space less; (4) make the secondary difficulty of high-precise ball etc.
For imaginary axis Digit Control Machine Tool, many occasions need provide the free degree greater than 3 and less than 6 simpler parallel institution.For example, general working angles only need be controlled the feed motion of five axles, and the rotation that adds main shaft can be processed the interior any free form surface of its working space.Therefore,, provide the feed motion of 4DOF, realize moving of a direction by the workbench of clamping workpiece again, easily simple, the 5-shaft linkage numerical control lathe that is easy to control of implementation structure to main shaft if with the parallel connection platform mechanism of 4DOF.
Summary of the invention
The object of the invention provides a class four-degree-of-freedom two translations two one-rotation parallel mechanisms, and this mechanism has following characteristics: (1), mechanism's workbench have two translations, two rotational motions output, and non-desired motion is output as constant; (2), its good rigidly, structure are simpler; (3) forward kinematics solution is simpler than Stewart mechanism, and exists part to control decoupling; (4) when mechanism of the present invention is made up of revolute pair, moving sets and universal joint, be easy to Precision Machining, be beneficial to the kinematic accuracy that improves parallel institution.The present invention provides new architecture for virtual axis machine, robot etc., for its exploitation and practicability provide possibility.
Description of drawings
Below by accompanying drawing and example technology of the present invention is given to illustrate further.
Accompanying drawing 1 is a schematic diagram of mechanism of the present invention.It is made up of incomplete two the identical broad sense branch roads of moving platform 1, silent flatform 2 and structure.Article one, broad sense is propped up 6 revolute pair R of route
3Plane 6 rods circuit and on the intermediate bar of this branch road the series connection revolute pair R
4Form revolute pair R
4Axis and 6 bars among between rod axis overlap; Second broad sense is propped up 6 revolute pair R of route
5Plane 6 rods circuit and on the intermediate bar of this branch road the series connection two revolute pair R that are parallel to each other
6Form described two revolute pair R
6One of axis and 6 bars between the dead in line of bar and another revolute pair R
6Connect firmly together with moving platform 1; Two broad sense branch road two ends members connect firmly respectively on dynamic and static platform, but are positioned at 2 revolute pair R that adhere to two broad sense branch roads on the moving platform separately
4For the configuration that is parallel to each other, also be the configuration that is parallel to each other and be positioned at 4 revolute pairs that adhere to two broad sense branch roads on the silent flatform separately.
The first broad sense branch road in the accompanying drawing 1, available by 4 revolute pair R that are parallel to each other
7With 2 secondary S of ball
86 rods circuits of forming substitute; The second broad sense branch road, available by 4 revolute pair R that are parallel to each other
9With 2 secondary S of ball
106 rods circuits and the revolute pair R that on the members of the secondary place of 2 balls, connects again
11The broad sense branch road of forming substitutes, and this kinematic pair R
11Axis be parallel to 2 secondary S of ball
10Line of centres, as shown in Figure 2.
In the accompanying drawing 1,2,4 revolute pairs can be used moving sets P on the silent flatform
12Substitute, but moving sets should be perpendicular to replaced revolute pair direction, shown in accompanying drawing 3 (a) and (b).
In the accompanying drawing 1,2,3, the first broad sense branch road can be used by 5 revolute pair R
13Perhaps 3 revolute pair R
13The universal joint T of plane 5 rods circuit series connection that forms with 2 moving sets on silent flatform
14The broad sense branch road of forming substitutes, and universal joint T
14A revolute pair R
13Axis and a revolute pair R of this planar loop
13Dead in line, as shown in Figure 4.
The specific embodiment
Structure also can be one embodiment of the present of invention shown in the accompanying drawing 1.It is made up of incomplete two the identical broad sense branch roads of moving platform 1, silent flatform 2 and structure.Article one, broad sense is propped up 6 revolute pair R of route
3Plane 6 rods circuit and on the intermediate bar of this branch road the series connection revolute pair R
4Form revolute pair R
4Axis and 6 bars among between rod axis overlap; Second broad sense is propped up 6 revolute pair R of route
5Plane 6 rods circuit and on the intermediate bar of this branch road the series connection two revolute pair R that are parallel to each other
6Form described two revolute pair R
6One of axis and 6 bars between the dead in line of bar and another revolute pair R
6Connect firmly together with moving platform 1; Two broad sense branch road two ends members connect firmly respectively on dynamic and static platform, but are positioned at 2 revolute pair R that adhere to two broad sense branch roads on the moving platform separately
4For the configuration that is parallel to each other, also be the configuration that is parallel to each other and be positioned at 4 revolute pairs that adhere to two broad sense branch roads on the silent flatform separately.
4 motions that drive revolute pairs on the control silent flatform 2 realize that with regard to the controllable brake platform two translations and two rotate output, the structural design of this kind parallel institution and drive control etc. all routinely mechanical ﹠ electrical technology carry out design and installation.This parallel institution is as mounting cutter on moving platform, operator or probe, promptly can be as the executing agency of virtual-axis nc machine tool, robot or the imaginary axis coordinate measuring machine of parallel-connection structure.
Claims (4)
1. four-freedom parallel mechanism is rotated in two translations two that are used for imaginary axis Digit Control Machine Tool and robot, its composition comprises moving platform (1), silent flatform (2) and is connected in two broad sense branch roads between moving platform, the silent flatform, it is characterized in that wherein first broad sense is propped up 6 revolute pair (R of route
3) plane 6 rods circuit and at revolute pair (R of the intermediate bar of this branch road series connection
4) form described revolute pair (R
4) axis and the dead in line of one of 6 bars and this revolute pair and moving platform (1) connect firmly; Second broad sense is propped up 6 revolute pair (R of route
5) plane 6 rods circuit and at 2 revolute pair (R that are parallel to each other of the intermediate bar of this branch road series connection
6) form described two revolute pair (R
6) one of axis and 6 bars between the dead in line of bar and another revolute pair (R
6) connect firmly together with moving platform (1); Article two, the configuration mode of broad sense branch road between two platforms is: 2 revolute pair (R that adhere to two broad sense branch roads on the moving platform separately
4) being the configuration that is parallel to each other, 4 revolute pairs that adhere to two broad sense branch roads on the silent flatform separately also are the configuration that is parallel to each other.
2. according to the described parallel institution of claim 1, it is characterized in that the described first broad sense branch road can be with the revolute pair (R that is parallel to each other by 4
7) and 2 ball pair (S
8) 6 rods circuits formed substitute; The second broad sense loop can be with the revolute pair (R that is parallel to each other by 4
9) and 2 ball pair (S
10) 6 rods circuits and the revolute pair (R that on the members of the secondary place of 2 balls, connects again
11) the broad sense branch road formed substitutes described revolute pair (R
11) axis be parallel to the line of centres of 2 ball pairs.
3. according to the described parallel institution of claim 1, it is characterized in that the described first broad sense branch road can be used by 5 revolute pair (R
13) universal joint (T of plane 5 rods circuit series connection
14) the broad sense branch road formed substitutes a revolute pair (R of described universal joint
13) one of axis and this planar loop revolute pair (R
13) dead in line.
4. according to claim 1 or 2 or 3 described parallel institutions, it is characterized in that 4 revolute pairs on the described silent flatform can be used moving sets (P
12) substitute, but moving sets should be perpendicular to replaced revolute pair axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02137856 CN1204998C (en) | 2002-06-28 | 2002-06-28 | Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02137856 CN1204998C (en) | 2002-06-28 | 2002-06-28 | Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1463821A CN1463821A (en) | 2003-12-31 |
| CN1204998C true CN1204998C (en) | 2005-06-08 |
Family
ID=29744274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02137856 Expired - Fee Related CN1204998C (en) | 2002-06-28 | 2002-06-28 | Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1204998C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100374244C (en) * | 2005-03-03 | 2008-03-12 | 江苏工业学院 | Three dimensional translation parallel connection mechanism used for robot operation |
| CN100358672C (en) * | 2005-03-03 | 2008-01-02 | 江苏工业学院 | Bitranslation one rotation virtual axis digital controlled machine tool and parallel connected robot mechanism |
| CN100462208C (en) * | 2007-06-01 | 2009-02-18 | 浙江理工大学 | Four-freedom redundantly driven parallel robot mechanism |
| CN102602859B (en) * | 2012-03-28 | 2015-01-21 | 厦门大学 | Wire-traction wall lifting and carrying combining mechanism |
| CN103438169B (en) * | 2013-09-03 | 2016-01-20 | 常州大学 | Output-parallel movement means is rotated in a kind of double input two translation two |
-
2002
- 2002-06-28 CN CN 02137856 patent/CN1204998C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1463821A (en) | 2003-12-31 |
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