CN1246400A - Ganty slide block type machine tool structure with virtal shaft driven by internal and external sets - Google Patents
Ganty slide block type machine tool structure with virtal shaft driven by internal and external sets Download PDFInfo
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Abstract
A machine-tool structure is composed of two vertically installed guide tracks, two controllable slide blocks, two straight drive units for driving said slide block to move along guide track, two length-fixed drive rods, moving platform to which cutting tool is installed, and bench for installing workpiece to it. The one end of said length-fixed drive rod is pivoted to one end of another. Their other ends are connected to slide blocks. It also includes a driven slide block and a telescopic axle connected to the driven slide block. Its advantages are low cost, simple structure, high machining performance, flexible cutting tool, high accuracy, quick feeding, preferable machined direction, multifunction and good calibration to thermal influence.
Description
The invention belongs to machinery manufacturing technology field, particularly a kind of have comprehensive function, an inside and outside secondary virtual-shaft machine tool structural design that combines that drives.
In mechanical manufacturing field, traditional frame for movement is stock-removing machine for example, all has fixing guide rail, and their basic exercise mode is to make cutter or workpiece along fixing guide rail movement.The total this motor pattern of legacy equipment has brought many intrinsic defectives:
One, traditional machine tool must have supporting member and the high-precision guide track systems that are fixed in supporting member such as the clumsy heavy lathe bed, column of high rigidity, cause that lathe weight is big, price is high, move and move difficulty.
Two, cutting tool can only be realized the processing feed motion along the given direction of fixed guide, limited the flexibility of cutter operation, in-line mechanical mechanism design makes spatial movement need lean on the mutual superposition of each direction motion to realize, easily produces the accumulation of error, has reduced the terminal precision.
Face complicated day by day machining shape of processing parts and special processing request, machine industry both domestic and external has been taked various corresponding countermeasures.For example, traditional machine tool satisfies the requirement of modern processing object by more complicated heavy self structure and the frock clamp that involves great expense.Consequently the manufacturing cycle is long, cost is high and workmanship is difficult to guarantee.Occurred the novel lathe that a class is called virtual-shaft machine tool in recent years, its adopts telescopic shaft or the sliding axle that can implement to control in parallel, has replaced traditional fixed guide system; Adopt frame structure, replaced heavy members such as traditional lathe bed, column.
The control system of tradition Digit Control Machine Tool is at rectangular coordinate system, i.e. X, Y, three one-movement-freedom-degrees of Z and A, B, three rotational freedoms of C, corresponding one of them free degree of the motion of each guide track system.And the controller of virtual-shaft machine tool is at each controlled axle.For a certain spatial pose requirement of cutter, exist corresponding telescopic shaft length or sliding axle slide position corresponding with it.Be that virtual-shaft machine tool is realized processing request by telescopic shaft length or sliding axle slide position.With the cutter pose that rectangular coordinate system is described, concerning this lathe, become description, and telescopic shaft length or sliding axle slide position are only its working control axle, so be called virtual-shaft machine tool to imaginary axis system.This type of lathe provides a kind of brand-new process equipment, has fundamentally changed the relative motion pattern of cutter and workpiece, has increased the flexibility of cutter Working motion, makes equipment have bigger process flexibility and control mobility.
Domestic and international existing virtual-shaft machine tool typical structure mainly comprises two classes: a class is the interior secondary virtual-shaft machine tool that drives of flexible shaft type, this class machine adopted frame support structure, one end of controlled telescopic shaft is connected with the top or the bottom node of framework, and the other end of controlled telescopic shaft is connected with the moving platform that the main shaft of mounting cutter is used.Owing to adopt frame support structure, make this type of lathe with the condition of the equal working ability of traditional machine tool under, have lighter overall weight and bigger processing rigidity.But this each driving shaft of class lathe is coupled mutually, does not have preferential machine direction.Each telescopic shaft length changes constantly simultaneously, is difficult for carrying out the calibration of heat affecting.Frame for movement mostly is peculiar part greatly, and standardization level is not strong.
Another kind of is the outer secondary virtual-shaft machine tool that drives of slide block type.This class lathe also adopts frame support structure.But each controlled shaft length all immobilizes, and an end of controlled axle is connected with slide block, allows slide block move on guide rail, and the other end of controlled axle is connected with the moving platform that spindle motor is installed.This class lathe not only has the major advantage of first kind lathe, and owing to adopt the sizing bar, has effectively avoided the interior secondary fuel factor that drives lathe Retractive leg mechanism, has significantly reduced the hot error of process, and degree of being practical is greatly taken on a new look.In addition, produce the advantage direction of motion by the lathe that can make this type of configuration after further theory analysis and the optimal design, thereby with other direction of motion decoupling zero, be suitable for microscler complex-curved workpiece processing, have the advantage that is similar to traditional Di Kaer coordinate system machine tool structure.This class lathe is obvious in the advantage direction of motion the fix a cutting tool flexibility ratio difference of operation of the flexibility ratio of operation and other machine direction of fixing a cutting tool, though these characteristics are suitable for the processing to microscler complex-curved workpiece, the processing of other type of workpiece is but had superiority not as first kind lathe.
The objective of the invention is in order to overcome the weak point of prior art, use for reference the advantage of the above-mentioned first kind and the second class virtual-shaft machine tool, slide block drives structure and expansion link drives structure are organically merged, design a kind of virtual-shaft machine tool structure that has cutting, grinding, transfer, assembling, beam processing, changes multiple functions such as head measurement, make it have simpler structure, better processing technology, better cutter operating flexibility degree, higher precision, feed speed faster, preferential machine direction, advantage such as heat affecting calibration easily on the Convenient table.And can reduce the manufacturing cost of lathe and satisfy the demand of user 3-5 axis linkage numerical control lathe.
The inside and outside secondary combination drive virtual-shaft machine tool structure of a kind of gantry slide block type of the present invention's design, comprise 2 vertically arranged guide rails, 2 controlled slide blocks that are installed in the guide rail, drive 2 linear drives unit that slide block moves in guide rail, 2 fixed length drive bars, the moving platform of 1 installation cutting tool, 1 workbench that workpiece is installed, it is characterized in that said 2 fixed length drive bar one ends are linked together by hinge, the other end is connected with a said slide block respectively; Also comprise 1 driven sliding block that also is installed in the guide rail wherein, 1 controlled telescopic shaft, said driven sliding block and said one controlled slide block are fixed together by setpoint distance, one end of this driven sliding block and said controlled telescopic shaft is fixed, the other end of controlled telescopic shaft is connected with said moving platform one end, the other end of this moving platform links to each other with the plane connecting frame hinge point of two regular lengths, form closed linkage in parallel, said workbench closed linkage in parallel with this on driving is independent mutually.
The driving of lathe of the present invention is inside and outside secondary combination drive, and wherein the driving of 2 fixed length drive bars is outer secondary the driving, and the driving of controlled telescopic shaft is interior secondary the driving.
The driven sliding block installation site of said controlled telescopic shaft can be positioned at above the controlled slide block of same guide rail, following or same position.In addition, the link position of controlled telescopic shaft and driven sliding block can also depart from certain distance with guide rail, to be applicable to different use occasions.
Said moving platform can increase by a rotating function, and said 2 fixed length drive bars can adopt plane framework or surface plate to replace, to increase lathe rigidity.
Said workbench can be by slide unit, the workbench of the rotatable and translation that motor, guide rail, turntable are formed.
Said controlled telescopic shaft can be by the cylinder blanket of an end opening, servomotor in the enclosure is installed successively, the linear guide of hollow inserts and to be subjected to motor-driven ball-screw and ball nut in the guide rod and the coupling that linear guide and ball nut are fixed together is formed.
One of feature of the present invention is: the leg-of-mutton summit that an end of moving platform and two fixed length drive bars form is hinged, and the other end and a controlled telescopic shaft are hinged, form closed linkage in parallel, makes moving platform obtain very high rigidity.Add triangle intrinsic stability, its vertex position rigidity is also very high, thereby has guaranteed the machining accuracy of lathe effectively.In addition, determining of this summit of triangle is only relevant with the position of slide block, and be irrelevant with the controlled telescopic shaft length of control moving platform corner.Because the slip of slide block directly shows the variation of this pin joint position, so be easy to realize the Position Control of this point and obtain good speed, the acceleration characteristic of this point.
Two of its feature is: two active sliding block of mechanism are installed in respectively on two guide rails, and the glide direction of slide block is the privileged direction of processing, is particularly suitable for processing some special workpieces.In addition, after the position of two fixed length drive bar pin joints is determined, if do not consider to interfere and extreme position, the planar a certain specific posture of moving platform, only relevant with the length of the controlled telescopic shaft that is attached thereto, and do not have direct relation with the particular location of slide block.By further analysis and optimization, can make moving platform obtain the ability of good realization attitude moving platform posture and slide position decoupling zero.
Three of its feature is: two fixed length drive bars are driven by the slide block that is attached thereto, and are also referred to as outer secondary the driving.The length direction of two fixed length drive bars carries out the heat affecting calibration easily as can be known.And the rotation of moving platform is driven by controlled telescopic shaft, and secondary the driving effectively improved the turning power of moving platform in being called.Both are combined into inside and outside secondary combination drive mode.
Four of its feature is: the connected mode of two fixed length drive bars and two active sliding block is singly to be hinged, because simple chain is easy to make, so machining accuracy is very high, thereby has guaranteed the hinged precision of mechanism.
Five of its feature is: this closed chain mechanism in parallel is a plane mechanism, comprises two frees degree of planar translation and a rotary freedom that rotates around plane normal.Since simple in structure, can carry out deep theory analysis to mechanism, obtain optimum design parameter, also the real-time control for mechanism provides condition.By install increase on the platform of processing work one rotate or one with the vertical translation of closed chain mechanism guide rail in parallel, make it become one four or five degree of freedom lathe.In addition, the side that motor also can be installed on moving platform increases by a rotating function, makes it become a six degree of freedom lathe, to be applicable to the processing request of most of complex parts.
Six of its feature is: if make moving platform and controlled telescopic shaft, necessarily long drive rod and vertical guide rail formation parallelogram, during the mechanism translation, controlled telescopic shaft will remain unchanged, and guarantee mechanism's higher precision and controllability when translation.
Seven of its feature is: two fixed length drive bars can adopt plane framework or surface plate to replace, to increase lathe rigidity.And moving platform adopts the bent plate structure, is beneficial to the installation of spindle motor or miscellaneous equipment.
Eight of its feature is: the motion of the controlled telescopic shaft that is connected with moving platform is also finished by ball screw assembly, and servomotor.Controlled telescopic shaft is by the cylinder blanket of an end opening, servomotor in the enclosure is installed successively, the linear guide of hollow inserts and to be subjected to motor-driven ball-screw and ball nut in the guide rod and the coupling that linear guide and ball nut are fixed together is formed; Linear guide one end stretches out shell and moving platform is hinged, and the blind end and the driven sliding block of shell are hinged.
Nine of its feature is: the driven sliding block installation site that connects controlled telescopic shaft can be positioned at above the adjacent active sliding block, following or same position.In addition, the link position of controlled telescopic shaft and driven sliding block can also depart from certain distance with guide rail, to be applicable to different use occasions.
In sum, principal character of the present invention is embodied in the plane-parallel type closed linkage, two guide rails, double-slider layout, the triangle translation structure that 2 fixed length drive bars and slide block are formed, connected mode between moving platform and 2 fixed length drive bars, the telescopic shaft, the mounting means of inside and outside secondary combination drive and slide block, the fixed length drive bar can be replaced with plane frame structure, the translation of workbench and tumbler, increase by a tumbler on the moving platform, the structure of controlled telescopic shaft, ten aspects such as the different installation sites of installation site that driven sliding block is different and controlled telescopic shaft.
Brief Description Of Drawings:
Fig. 1 is one of embodiments of the invention general structure schematic diagram.
Fig. 2 is the structural representation of the controlled telescopic shaft of present embodiment.
Fig. 3 is two general structure schematic diagrames of embodiments of the invention.
Fig. 4 is three general structure schematic diagrames of embodiments of the invention.
Fig. 5 is four general structure schematic diagrames of embodiments of the invention.
Below in conjunction with accompanying drawing, introduce structure and the operation principle of the inside and outside secondary combination drive virtual-shaft machine tool embodiment of four kinds of gantry slide block types of the present invention in detail.
Embodiment one general structure as shown in Figure 1, present embodiment is by fixed length drive bar 4,15, controlled telescopic shaft 7, moving platform 8, slide block 3,6,16, guide rail 2,17 constitutes the plane-parallel type closed linkages.Be subjected to the power of any direction when moving platform 8 after, each root bar of closed linkage in parallel only is subjected to tension and compression, be not subjected to moment of flexure, so it has very high rigidity.Because adopt frame structure, the weight of total also is very light.
Active sliding block 3 is slided on vertical guide rail 2, and active sliding block 16 is slided on vertical guide rail 17, form two guide rail double-slider layouts, because the beeline of two active sliding block 3,16 is a distance between two guide rails, thereby the side chain of having avoided single-rail double-slider layout to be easy to generate is interfered situation.In addition, moving platform 8 is between two guide rails 2,17, and the stressed of moving platform is distributed in fixed length drive bar 4,15 more equably, thereby further improved the rigidity of mechanism.
Fixed length drive bar 4,15, the triangle translation structure that the controlled slide block that is hinged with it 3,16 is formed since triangle intrinsic stability, make its summit, promptly the pin joint of fixed length drive bar 4,15 has good rigidity.When controlled slide block 3,16 changed the position, the pin joint of plane connecting frame 4,15 was also along with corresponding change, and the change of this pin joint position is irrelevant with the controlled telescopic shaft 7 of control moving platform 8 rotational angles.The variation of the position of pin joint, speed, acceleration is only relevant with controlled slide block 3,16.
One end and the controlled telescopic shaft 7 of moving platform 8 are hinged, and the pin joint of the other end and plane connecting frame 4,15 is hinged, and such design makes moving platform promptly have the advantage of telescopic shaft extension and contraction control, has the advantage that connecting-rods with constant lengh slides and controls again.The good capacity of moving platform 8 realization attitudes and the accuracy of location have been guaranteed.
Fixed length drive bar 4,15 is slided on vertical guide rail 2,17 by slide block 3,16 and changes position and attitude, and then drives the change of moving platform 8 positions, is outer secondary the driving.And controlled telescopic shaft 7 is controlled the variation of the attitude of moving platform 8 by axial stretching motion, is interior secondary the driving.
Fixed length drive bar 4,15 can adopt plane framework or surface plate to replace, to increase lathe rigidity.And moving platform 8 adopts the bent plate structures, a side of bent plate links to each other with the pin joint of telescopic shaft with fixed length drive bar 4,15, and opposite side can conveniently be installed spindle motor 9 or miscellaneous equipment.In addition, this side that spindle motor 9 is installed can also increase by a rotating function, has enlarged the range of work and the process flexibility of lathe.
Have move and the workbench of rotating function by slide unit 12, motor 10, guide rail 11, rotary work-table 13 is formed.Motor 10 drives workbench 13 and goes up workpiece 14 and rotate, and slide unit 12 horizontal slip on guide rail 11, its direction of motion is vertical with the horizontal guide rail direction of motion of closed linkage in parallel, has effectively enlarged the range of work of lathe.Though move or rotary work-table separate with closed linkage in parallel on driving, it has effectively enlarged the range of work and the adaptability of lathe.
As shown in Figure 2, it is the structural representation of the controlled telescopic shaft 7 of present embodiment, among the figure, and the 27th, servomotor can rotate by the ball-screw 21 of drive installation on bearing 26 as requested, and bearing 26 and servomotor 27 all are installed in the casing 25.Straight line guide pin bushing 20 is fixed on the outer wall 24, and outer wall 24 is fixed on again on the casing 25, so does not have relative motion between straight line guide pin bushing 20 and casing 25 outer walls 24.Linear guide 19 can only be done rectilinear motion vertically and can not rotate around axis under the constraint of straight line guide pin bushing 20.Hookup 22 is fixed together linear guide 19 and ball nut 23, so ball nut 23 can not rotate around axis.When ball-screw 21 rotations, linear guide 19 is just made stretching motion vertically under the drive of ball nut 23.
2 fixed length drive bars 4,15 are 1100mm in the present embodiment, the flexible scope of controlled telescopic shaft 7 is limited in 845.9mm-1309.8mm, the height of moving platform 8 is 500mm, the slidably distance of slide block 3,6,16 on guide rail 2,17 is 1500mm, distance is 1000mm between two guide rails 2,17, when the height of the connecting plate 5 between connection slide block 3 and the slide block 6 was 500mm, the mobile range that can obtain moving platform 8 horizontal directions was 1000mm.When the slewing area of the central point of motors being installed when moving platform 8 required greater than ± 30 °, the mobile range of moving platform 8 horizontal directions was 500mm.
When the sliding distance of slide unit 12 on guide rail 11 of workbench was 1000mm, reached at the territory that moving platform 8 is installed the central point of motor was approximately 1000
*1000
*1000mm
3(X
*Y
*Z).When moving platform 8 slewing areas require greater than ± 30 °, can reach the territory and be approximately 500
*1000
*1000mm
3(X
*Y
*Z).Wherein X refers to the mobile range of moving platform 8 horizontal directions.Y refers to the sliding distance of slide unit 12 on guide rail 11, and Z refers to the mobile range on moving platform 8 vertical direction.
The structure of embodiment two, three, four is respectively as Fig. 3, Fig. 4, shown in Figure 5, general structure is identical with embodiment one basically, its difference is that the installation site of driven sliding block 6 has nothing in common with each other, and has guaranteed the flexibility and the diversity of structure, makes it be applicable to different use occasions.Its difference specifies as follows;
Being installed in of the driven sliding block 6 of embodiment two drives on the slide block 3; Being installed in of the driven sliding block 6 of embodiment three drives on slide block 3 something in common; Depart from certain distance and the embodiment four fundamental rules are link position and guide rails of controlled telescopic shaft and driven sliding block, the corner allowable of the moving platform 8 of this structure obviously increases, and helps practical engineering application.
The present invention has following effect:
The first, a leg-of-mutton summit of an end of moving platform and two 2 fixed length drive bar formation is hinged, and the other end and a controllable extensible axle are hinged, form closed linkage in parallel. Each root bar in the structure only is subjected to tension and compression, be not subjected to torsional interaction, reduced the mismachining tolerance that the lathe stress deformation produces, guaranteed the rigidity that lathe is higher, secondly, structure adopts plane framework as supporting rod, also Effective Raise the rigidity of mechanism, add the stability that triangle is intrinsic, its vertex position rigidity is also very high, has finally greatly improved the rigidity of lathe. In addition, determining of this summit of triangle is only relevant with the position of slide block, and be short irrelevant with the controllable extensible axial length of control moving platform corner. Because the slip of slide block directly shows the variation of this pin joint position, so be easy to realize the Position Control of this point and obtain good speed, the acceleration characteristic of this point.
The second, the mounting means of mechanism's slide block has guaranteed that glide direction is the privileged direction of processing, is particularly suitable for processing some special workpieces. In addition, behind the location positioning of regular length bar pin joint, do not interfere and extreme position if do not consider, moving platform is a certain specific posture planar, only relevant with the length of the controllable extensible axle that is attached thereto, and not having direct relation with the particular location of slide block, moving platform has the ability of good realization attitude.
Three, structure is inside and outside secondary combination drive, and wherein two 2 fixed length drive bars adopt outer secondary type of drive, can carry out easily heat affecting calibration to its length. The controllable extensible axle that control moving platform attitude changes is interior secondary the driving, is easier to realize the control to the moving platform attitude. And adopt plane framework to replace single support bar (fixed length drive bar), more can greatly improve the rigidity of structure.
Four, the connected mode of closed linkage in parallel is singly and is hinged. Because simple chain is easy to make, so machining accuracy is very high, thereby guaranteed the hinged precision of mechanism.
Five, this structure is a simple planar structure, low cost of manufacture, easy accessibility. Part drives and adopts outer secondary the driving, is easy to adopt standard component production. By increasing movement and the rotating function of workbench, can make it become one four or five degree of freedom lathe. In addition, also can increase by a rotating function in a side of moving platform mounted motor, become a six degree of freedom lathe, to be applicable to the processing request of most of complex parts
Six, simple in structure, carry out easily deep theory analysis, obtain optimum design parameter. Also easily it is controlled in real time.
Seven, the controllable extensible axle construction of functional independence, linear guide has adopted hollow structure, and being convenient to ball-screw can enter, not only simple in structure, and Central Symmetry, reduced the various errors that produce when moving, can greatly improve the comprehensive precision of lathe.
Claims (8)
1, the inside and outside secondary combination drive virtual-shaft machine tool structure of a kind of gantry slide block type, comprise 2 vertically arranged guide rails, 2 controlled slide blocks that are installed in the guide rail, drive 2 linear drives unit that slide block moves in guide rail, 2 fixed length drive bars, the moving platform of 1 installation cutting tool, 1 workbench that workpiece is installed, it is characterized in that said 2 fixed length drive bar one ends are linked together by hinge, the other end is connected with a said slide block respectively; Also comprise 1 driven sliding block that also is installed in the said wherein guide rail, 1 controlled telescopic shaft, said driven sliding block and said one controlled slide block are fixed together by setpoint distance, one end of this driven sliding block and said controlled telescopic shaft is fixed, the other end of controlled telescopic shaft is connected with said moving platform one end, the other end of this moving platform links to each other with the plane connecting frame hinge point of two regular lengths, form closed linkage in parallel, said workbench closed linkage in parallel with this on driving is independent mutually.
2, machine tool structure as claimed in claim 1 is characterized in that, the driving of lathe is inside and outside secondary combination drive, and wherein the driving of 2 fixed length drive bars is outer secondary the driving, and the driving of controlled telescopic shaft is interior secondary the driving.
3, machine tool structure as claimed in claim 1 is characterized in that, the driven sliding block installation site of the controlled telescopic shaft of said connection is positioned at above the controlled slide block of same guide rail, following or same position.
4, machine tool structure as claimed in claim 1 is characterized in that, the link position and the guide rail of said controlled telescopic shaft and driven sliding block depart from certain distance.
5, machine tool structure as claimed in claim 1 is characterized in that, said moving platform is the moving platform with a rotating function.
6, machine tool structure as claimed in claim 1, the width extending of 2 fixed length drive bars becomes plane framework or surface plate.
7, machine tool structure as claimed in claim 1 is characterized in that, said workbench is by slide unit, the workbench of the rotatable and translation that motor, guide rail, turntable are formed.
8, machine tool structure as claimed in claim 1, it is characterized in that, said controlled telescopic shaft is by the cylinder blanket of an end opening, servomotor in the enclosure is installed successively, the linear guide of hollow inserts and to be subjected to motor-driven ball-screw and ball nut in the guide rod and the coupling that linear guide and ball nut are fixed together is formed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99109823A CN1081970C (en) | 1999-07-16 | 1999-07-16 | Ganty slide block type machine tool structure with virtal shaft driven by internal and external sets |
| US09/518,425 US6402444B1 (en) | 1999-04-29 | 2000-03-03 | Type of parallel machine tool frame driven by slider and extensible strut |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99109823A CN1081970C (en) | 1999-07-16 | 1999-07-16 | Ganty slide block type machine tool structure with virtal shaft driven by internal and external sets |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1246400A true CN1246400A (en) | 2000-03-08 |
| CN1081970C CN1081970C (en) | 2002-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN99109823A Expired - Fee Related CN1081970C (en) | 1999-04-29 | 1999-07-16 | Ganty slide block type machine tool structure with virtal shaft driven by internal and external sets |
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| Country | Link |
|---|---|
| CN (1) | CN1081970C (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2002098603A1 (en) * | 2001-06-01 | 2002-12-12 | Siemens Aktiengesellschaft | Production machine |
| CN100384599C (en) * | 2006-06-09 | 2008-04-30 | 燕山大学 | Four-freedom parallel mechanical arm |
| CN101444914A (en) * | 2008-11-19 | 2009-06-03 | 浙江工业大学 | Three-DOF personified parallel manipulator |
| CN101505914B (en) * | 2006-08-31 | 2010-10-13 | 武藏工业株式会社 | Deformable gantry type working apparatus |
| CN102069394A (en) * | 2010-12-22 | 2011-05-25 | 浙江工业大学 | Two-freedom parallel machine tool |
| CN102120205A (en) * | 2011-02-23 | 2011-07-13 | 常州大学 | Single-spray gun spraying five-axis hybrid robot |
| CN102615514A (en) * | 2012-04-10 | 2012-08-01 | 清华大学 | Two-degree-of-plane-freedom redundant drive parallel mechanism and machine tool with same |
| CN103264384A (en) * | 2013-05-20 | 2013-08-28 | 苏州大学 | Series-parallel combined three-freedom-degree translation carrying mechanism |
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| CN104741270B (en) * | 2015-04-10 | 2017-05-17 | 清华大学 | Series-parallel connection mechanism for spray-coating of automobile bumpers |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07250500A (en) * | 1994-03-10 | 1995-09-26 | Fuji Electric Co Ltd | Variable speed controller for induction motor |
| FR2757440B1 (en) * | 1996-12-20 | 1999-03-19 | Conservatoire Nat Arts | HEXAPODE PLATFORM AND SPHERICAL ARTICULATION DEVICES FOR USE IN THE PRODUCTION THEREOF |
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- 1999-07-16 CN CN99109823A patent/CN1081970C/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002098603A1 (en) * | 2001-06-01 | 2002-12-12 | Siemens Aktiengesellschaft | Production machine |
| US6979932B2 (en) | 2001-06-01 | 2005-12-27 | Siemens Aktiengesellschaft | Production machine |
| CN100384599C (en) * | 2006-06-09 | 2008-04-30 | 燕山大学 | Four-freedom parallel mechanical arm |
| CN101505914B (en) * | 2006-08-31 | 2010-10-13 | 武藏工业株式会社 | Deformable gantry type working apparatus |
| CN101444914A (en) * | 2008-11-19 | 2009-06-03 | 浙江工业大学 | Three-DOF personified parallel manipulator |
| CN102069394A (en) * | 2010-12-22 | 2011-05-25 | 浙江工业大学 | Two-freedom parallel machine tool |
| CN102120205A (en) * | 2011-02-23 | 2011-07-13 | 常州大学 | Single-spray gun spraying five-axis hybrid robot |
| CN102120205B (en) * | 2011-02-23 | 2012-09-19 | 常州大学 | Single-spray gun spraying five-axis hybrid robot |
| CN102615514A (en) * | 2012-04-10 | 2012-08-01 | 清华大学 | Two-degree-of-plane-freedom redundant drive parallel mechanism and machine tool with same |
| CN102615514B (en) * | 2012-04-10 | 2013-08-14 | 清华大学 | Two-degree-of-plane-freedom redundant drive parallel mechanism and machine tool with same |
| CN103264384A (en) * | 2013-05-20 | 2013-08-28 | 苏州大学 | Series-parallel combined three-freedom-degree translation carrying mechanism |
| CN103264384B (en) * | 2013-05-20 | 2016-09-28 | 苏州大学 | Sries-parallel connection type Three Degree Of Freedom translation carrying mechanism |
| CN107081672A (en) * | 2017-06-26 | 2017-08-22 | 北京交通大学 | A kind of parallel lapping device |
| CN107081672B (en) * | 2017-06-26 | 2019-10-22 | 北京交通大学 | A kind of parallel grinding device |
| CN110385588A (en) * | 2019-06-29 | 2019-10-29 | 杭州佳煌传动科技有限公司 | The fixed device of cabinet Milling Machining applied to worm type of reduction gearing |
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