CN211219637U - Parallel-serial machine tool with over-constrained parallel modules with few degrees of freedom - Google Patents
Parallel-serial machine tool with over-constrained parallel modules with few degrees of freedom Download PDFInfo
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Abstract
The utility model relates to a series-parallel machine tool containing an overconstrained few-degree-of-freedom parallel module, which comprises a frame, wherein the upper part of the frame is provided with a parallel module of an end actuator, the lower part of the frame is provided with a serial module for bearing a machined part, a movable platform for installing a machining tool is arranged between the parallel module and the serial module, the end actuator is arranged on the movable platform, the parallel module forms three-degree-of-freedom motion of the end actuator rotating around an X shaft and a Y shaft and moving along a Z shaft, the serial module forms two-degree-of-freedom motion of a worktable moving along the X shaft and the Y shaft, the parallel module and the serial module are integrated through the frame, so that the movable platform realizes five-degree-of-freedom motion capability of the machined part on the worktable relative to the serial module, the design not only adopts the overconstrained few-parallel, the mechanism has the advantages of series and parallel mechanisms, and can form large-swing-angle processing capability without connecting rotary joint modules in series.
Description
Technical Field
The invention relates to a parallel-serial machine tool with an over-constrained parallel module with few degrees of freedom.
Background
The machine tool with five or more machining capacities can realize high-precision and high-efficiency machining of complex surfaces, is indispensable high-end equipment in advanced manufacturing fields of precision instruments, aviation, aerospace and the like, and becomes the leading edge and hot spot of the research and development and application fields of numerical control machines at home and abroad. From the view point of the topological structure of the machine tool, the traditional machine tool structure in the form of series connection and open chain has the advantages of easy modularization, large working space, simple forward kinematics and the like, and the disadvantages of large movement inertia, difficult reverse kinematics and the like, while the machine tool structure in the form of parallel connection and closed loop has the advantages of high rigidity, low inertia, simple reverse kinematics and the like, and the disadvantages of limited working space, difficult forward kinematics and the like. Therefore, the series-parallel machine tool combining the series mechanism module and the parallel mechanism module becomes an effective way for overcoming the respective defects of the series mechanism and the parallel mechanism and developing the respective advantages of the series mechanism and the parallel mechanism, and provides a feasible scheme for realizing a high-performance five-axis machine tool.
Disclosure of Invention
The invention provides a parallel-serial machine tool with an over-constrained parallel module with less degrees of freedom.
The invention solves the technical problem by adopting the scheme that a series-parallel machine tool with an over-constrained parallel module with less degrees of freedom comprises a frame, wherein the upper part of the frame is provided with a parallel module of an end effector, the lower part of the frame is provided with a series module for bearing a machined part, the parallel module is provided with a movable platform for installing a machining tool, and the end effector is arranged on the movable platform;
the parallel module comprises three motion branches such as a first motion branch, a second motion branch and a third motion branch which are vertically arranged, the first motion branch and the second motion branch are arranged in a bilateral symmetry mode, and the third motion branch is located on the rear side of the middle part between the first motion branch and the second motion branch;
the first motion branch, the second motion branch and the third motion branch are formed by sequentially connecting a sliding module, an inclined plane saddle assembly, a first driven joint, a connecting rod and a second driven joint in series, the second driven joint of each module is connected with the movable platform, and the first driven joint is a revolute pair and is respectively connected with the inclined plane saddle assembly and the connecting rod through a rotating shaft;
the second passive joints of the first motion branch and the second motion branch are Hooke joints formed by crossing two revolute pairs, one end of each passive joint is connected with a connecting rod through a locked long shaft A which cannot rotate around the axis of the passive joint, and the other end of each passive joint is connected with a movable platform through a short shaft A and a transverse shaft A which can rotate around the axis of the passive joint in sequence;
the second passive joint of the third motion branch is a spherical hinge formed by three revolute pairs which are vertically crossed, one end of the second passive joint is connected with a connecting rod through a long shaft B which is not locked and can rotate around the axis of the second passive joint, and the other end of the second passive joint is connected with a movable platform through a short shaft B and a horizontal shaft B which can rotate around the axis of the second passive joint in sequence;
the sliding module comprises a connecting plate A, a guide rail A, a screw rod A and a servo motor A, wherein the guide rail A, the screw rod A and the servo motor A are arranged on the connecting plate A, two ends of the screw rod A are arranged on the connecting plate A through bearing seats, the guide rail A is positioned on the inner side of the screw rod A, an output shaft of the servo motor A is connected and transmitted with the end, far away from the movable platform, of the screw rod A through a coupler, the guide rail A is parallel to the screw rod A, the inclined plane sliding saddle assembly is sleeved on the screw rod A and is in threaded fit with the screw;
the series module is connected in series in proper order by first slip module, straight saddle subassembly, second slip module and workstation, first slip module, the second slip module is arranged respectively in X, Y axle directions, first slip module and second slip module structure are the same, all include connecting plate B, install guide rail B on connecting plate B, lead screw B, servo motor B, lead screw B both ends are installed on connecting plate B through the bearing housing, guide rail B is located lead screw B downside, guide rail B parallels with lead screw B, straight saddle subassembly and the lead screw A screw-thread fit on the first slip module and the guide rail B sliding fit on the first slip module, lead screw A screw-thread fit on workstation and the second slip module and the guide rail B sliding fit on the second slip module.
Furthermore, each servo motor is installed on the corresponding connecting plate through the motor cabinet respectively.
Further, the inclined plane saddle subassembly includes the inclined plane saddle, install slider A, screw-nut A on the inclined plane saddle, screw-nut A and the lead screw thread fit that corresponds, slider A and the guide rail sliding fit that corresponds, straight saddle subassembly includes straight saddle, install slider B on straight saddle, screw-nut B and the lead screw thread fit that corresponds, slider B and the guide rail sliding fit that corresponds, install slider C on the work piece bench, screw-nut C and the lead screw thread fit that corresponds, slider C and the guide rail sliding fit that corresponds.
Furthermore, the projections of the geometric centers of the first passive joints on the first motion branch, the second motion branch and the third motion branch on the horizontal plane form an isosceles right triangle a, the geometric center of the first passive joint on the third motion branch is located at the right angle of the isosceles right triangle a, the geometric centers of the three second passive joints connected to the movable platform form an isosceles right triangle B, and the geometric center of the second passive joint on the third motion branch is located at the right angle of the isosceles right triangle B.
Furthermore, the axes of the transverse shafts of the second passive joints connected with the movable platform on the first motion branch, the second motion branch and the third motion branch are parallel to each other, and the axes of the long shafts of the three second passive joints connected with the movable platform are perpendicular to the crossed short shafts.
Furthermore, the axes of the long axes of the three second passive joints connected to the movable platform are perpendicular to the short axis and the axis of the first passive joint, and the axes of the short axis and the transverse axis in each branch are perpendicular to each other.
Furthermore, the axes of the first passive joints on the first motion branch and the second motion branch and the axis of the short shaft in the second passive joint on the branch are parallel to each other and are perpendicular to the axis of the first passive joint on the third motion branch.
Furthermore, the third motion branch forms a constraint force which passes through the geometric center of the second passive joint on the motion branch and is parallel to the axial direction of the first passive joint on the movable platform; the first motion branch and the second motion branch respectively form a constraint force and a constraint force couple on the movable platform, the constraint force passes through the geometric center of a second passive joint on each motion branch and is parallel to the axial direction of the first passive joint, the constraint force couple is simultaneously vertical to the axial directions of a minor axis and a transverse axis in the second passive joint on each motion branch, and the constraint force couple of the first motion branch and the second motion branch are respectively parallel to form two pairs of over-constraint; and the constraint of the first motion branch, the second motion branch and the third motion branch enables the movable platform to form three-degree-of-freedom motion capability of rotating around an X axis and a Y axis and moving along a Z axis direction.
Compared with the prior art, the invention has the following beneficial effects: the five-axis linkage machining scheme has the advantages of simple structure and reasonable design, provides a five-axis linkage machining scheme with low inertia, high precision, high rigidity and large working space, not only adopts the overconstrained few-degree-of-freedom parallel mechanism module capable of realizing large swing angle and high rigidity, but also integrates a large-stroke series mechanism module, has the advantages of a series mechanism and a parallel mechanism, and can also form large swing angle machining capacity without serially connecting rotary joint modules.
Drawings
The invention is further described with reference to the following figures.
FIG. 1 is a schematic view of the present parallel-serial machine tool in a vertical layout configuration;
FIG. 2 is a schematic view of the parallel-serial machine tool in a horizontal layout;
FIG. 3 is a schematic diagram of a kinematic branch;
FIG. 4 is a schematic structural diagram of a sliding module;
FIG. 5 is a schematic illustration of the construction of the beveled saddle assembly;
FIG. 6 is a schematic structural diagram of a parallel module;
FIG. 7 is a schematic diagram of a series module configuration;
FIG. 8 is a schematic view of a flat saddle assembly.
In the figure: 1-a bed of a frame; 2-parallel modules; 3-a series module; 31-a first sliding module; 311-connecting plate B; 312-guide rail B; 313-screw B; 314-front bearing seat B; 315-rear bearing seat B; 316-coupling B; 317-motor base B; 318-servomotor B; 32-a straight saddle assembly; 321-a straight saddle; 322-slider B; 323-screw nut B; 33-a second sliding module; 34-a workpiece table; 4-a base; 5-connecting rib plates; 6-a support beam; 7-a first motion branch; 71-a sliding module; 711-connecting plate a; 712-guide rail A; 713-screw A; 714-front bearing seat A; 715-rear bearing seat A; 751-the long axis; 752-minor axis; 753-horizontal axis; 716-coupling A; 717-motor base A; 718-servomotor a; 72-a beveled saddle assembly; 721-a beveled saddle; 722-slide A; 723-feed screw nut A; 73-first passive joint; 74-connecting rod; 75-a second passive joint; 8-a second motion branch; 9-third motion branch; 10-moving the platform; 11-end effector.
Detailed Description
The invention is further described with reference to the following figures and detailed description. In the figure, xyz represents a coordinate system, and O represents a coordinate origin, X, Y, and Z represent directions in which coordinates are different, respectively.
As shown in fig. 1-8, a hybrid machine tool with an overconstrained parallel module with less degrees of freedom comprises a frame, wherein the upper part of the frame is provided with a parallel module of an end effector, the lower part of the frame is provided with a serial module for bearing a workpiece, the parallel module is provided with a movable platform for mounting a machining tool, and the end effector is mounted on the movable platform;
the lathe body of the machine frame is connected with the parallel modules through the base arranged on the lathe body and the connecting rib plates arranged on the base, the lathe body of the machine tool is fixed through the supporting beam and positions the relative position between the base and the serial modules to form a vertical or horizontal machine tool layout, the horizontal layout can enable chips to be more easily machined, and complex concave, die inner cavity and box type workpieces are facilitated;
the parallel module comprises three motion branches such as a first motion branch, a second motion branch and a third motion branch which are vertically arranged, the first motion branch and the second motion branch are arranged in a bilateral symmetry manner, the third motion branch is positioned at the rear side of the middle part between the first motion branch and the second motion branch, and each motion branch is arranged on the base through a connecting rib plate;
the first motion branch, the second motion branch and the third motion branch are formed by sequentially connecting a sliding module, an inclined plane saddle assembly, a first driven joint, a connecting rod and a second driven joint in series, the second driven joint of each module is connected with the movable platform, and the first driven joint is a revolute pair and is respectively connected with the inclined plane saddle assembly and the connecting rod through a rotating shaft;
the second passive joints of the first motion branch and the second motion branch are Hooke joints formed by crossing two revolute pairs, one end of each passive joint is connected with a connecting rod through a locked long shaft A which cannot rotate around the axis of the passive joint, and the other end of each passive joint is connected with a movable platform through a short shaft A and a transverse shaft A which can rotate around the axis of the passive joint in sequence;
the second passive joint of the third motion branch is a spherical hinge formed by three revolute pairs which are vertically crossed, one end of the second passive joint is connected with a connecting rod through a long shaft B which is not locked and can rotate around the axis of the second passive joint, and the other end of the second passive joint is connected with a movable platform through a short shaft B and a horizontal shaft B which can rotate around the axis of the second passive joint in sequence;
the sliding module comprises a connecting plate A, a guide rail A, a screw rod A and a servo motor A, wherein the guide rail A, the screw rod A and the servo motor A are arranged on the connecting plate A, two ends of the screw rod A are arranged on the connecting plate A through bearing seats, the guide rail A is positioned on the inner side of the screw rod A, an output shaft of the servo motor A is connected and transmitted with the end, far away from the movable platform, of the screw rod A through a coupler, the guide rail A is parallel to the screw rod A, the inclined plane sliding saddle assembly is sleeved on the screw rod A and is in threaded fit with the screw;
the series module is formed by sequentially connecting a first sliding module, a straight sliding saddle assembly, a second sliding module and a workpiece table in series, the first sliding module and the second sliding module are respectively arranged in the direction of X, Y shafts, the first sliding module and the second sliding module are identical in structure and respectively comprise a connecting plate B, a guide rail B, a lead screw B and a servo motor B, the guide rail B is arranged on the connecting plate B, two ends of the lead screw B are arranged on the connecting plate B through bearing seats, the guide rail B is positioned on the lower side of the lead screw B, the guide rail B is parallel to the lead screw B, the straight sliding saddle assembly is in threaded fit with a lead screw A on the first sliding module and is in sliding fit with a guide rail B on the first sliding module, and the workbench is in threaded fit with a lead screw A on the second sliding module and is in sliding;
the parallel module is three degrees of freedom, the series module is two degrees of freedom, and the parallel module and the series module are integrated through the frame, so that the end effector on the parallel platform realizes five-degree-of-freedom motion capability relative to a workpiece on the workpiece table, namely five-axis machining capability of rotating around the X, Y axis direction and moving along the X, Y, Z axis direction.
In this embodiment, the linear motion of the screw rod and the screw nut driven by the servo motor in the serial and parallel modules can be replaced by a hydraulic or pneumatic driving mode.
In this embodiment, the end effector on the movable platform can be switched among modules such as an electric spindle, a mechanical spindle, a laser and an ultrasonic transmitter according to specific application occasions.
In this embodiment, each servo motor is installed on the corresponding connection board through the motor base.
In this embodiment, the inclined plane saddle subassembly includes the inclined plane saddle, install slider A on the inclined plane saddle, screw-nut A and the lead screw thread fit that corresponds, slider A and the guide rail sliding fit that corresponds, straight saddle subassembly includes straight saddle, install slider B on straight saddle, screw-nut B and the lead screw thread fit that corresponds, slider B and the guide rail sliding fit that corresponds, install slider C on the work piece bench, screw-nut C and the lead screw thread fit that corresponds, slider C and the guide rail sliding fit that corresponds.
In this embodiment, the projections of the geometric centers of the first passive joints on the first motion branch, the second motion branch and the third motion branch on the XOY plane form an isosceles right triangle a, the geometric center of the first passive joint on the third motion branch is located at the right angle of the isosceles right triangle a, the geometric centers of the three second passive joints connected to the movable platform form an isosceles right triangle B, and the geometric center of the second passive joint on the third motion branch is located at the right angle of the isosceles right triangle B.
In this embodiment, the axes of the transverse shafts of the second passive joints connected with the movable platform on the first, second and third motion branches are parallel to each other, and the axes of the major shafts of the three second passive joints connected with the movable platform are perpendicular to the cross minor shafts.
In this embodiment, the axes of the long axes of the three second passive joints connected to the movable platform are perpendicular to the short axis and the axis of the first passive joint, and the axes of the short axis and the transverse axis in each branch are perpendicular to each other.
In this embodiment, the axes of the first passive joints on the first and second motion branches and the axis of the short shaft in the second passive joint on the branch are parallel to each other and are perpendicular to the axis of the first passive joint on the third motion branch.
In this embodiment, the third motion branch forms a constraint force on the movable platform, which passes through the geometric center of the second passive joint on the motion branch and is parallel to the axial direction of the first passive joint; the first motion branch and the second motion branch respectively form a constraint force and a constraint force couple on the movable platform, the constraint force passes through the geometric center of a second passive joint on each motion branch and is parallel to the axial direction of the first passive joint, the constraint force couple is simultaneously vertical to the axial directions of a minor axis and a transverse axis in the second passive joint on each motion branch, and the constraint force couple of the first motion branch and the second motion branch are respectively parallel to form two pairs of over-constraint; and the constraint of the first motion branch, the second motion branch and the third motion branch enables the movable platform to form three-degree-of-freedom motion capability of rotating around an X axis and a Y axis and moving along a Z axis direction.
In this embodiment, the first motion branch, the second motion branch, the third motion branch and the movable platform form a closed-loop motion chain, the three motion branches are coupled along the active linear motion of the Z axis to form three-degree-of-freedom motion in which the end effector rotates around the X axis and the Y axis and moves along the Z axis, the serial module forms two-degree-of-freedom motion in which the worktable moves along the X axis and the Y axis, and the parallel module and the serial module are integrated through the frame, so that the movable platform realizes five-degree-of-freedom motion capability relative to a workpiece on the worktable of the serial module.
In the embodiment, only the inclined-plane saddle assembly, the connecting rod and the two driven joints in each motion branch move along the guide rail, and the sliding module with larger mass is fixed on the base, so that the motion inertia of the hybrid machine tool is lower, and the dynamic processing performance is better.
In this embodiment, the movable platform acts on the fixed sliding module of the connecting plate through the passive joint and the connecting rod, so that the rigidity of the whole hybrid machine tool is better, and the length of the connecting rod is fixed, so that the rigidity performance of the movable platform in the working space is less in fluctuation, the constraint of the movable platform is over-constraint, and the connecting rod with fixed length acts on the sliding module, so that the possible processing precision of the mechanism is improved, the effective deformation length is also reduced, and the rigidity stability of the hybrid machine tool in the working space is improved.
In this embodiment, the two rotation axes of the movable platform are intersected and located on the plane where the geometric centers of the three second passive joints connected to the movable platform are located, so that the function of the parallel module can be equivalent to the function of a two-degree-of-freedom series-connection swing angle head, and the parallel machine tool can realize the large swing angle processing capability without connecting the rotation joint modules in series.
In the embodiment, the hybrid machine tool integrates the overconstrained less-degree-of-freedom parallel module and the large-stroke serial module, so that the advantages of high rigidity, low inertia, large working space and the like of the serial module and the parallel module are fully exerted, and high-performance five-axis linkage machining of a workpiece with a complex space can be realized.
The above-mentioned preferred embodiments, further illustrating the objects, technical solutions and advantages of the present invention, should be understood that the above-mentioned are only preferred embodiments of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a series-parallel machine tool that contains few degree of freedom parallel module of overconstraint, includes the frame, its characterized in that: the upper part of the rack is provided with a parallel module of an end effector, the lower part of the rack is provided with a serial module for bearing a workpiece, the parallel module is provided with a movable platform for mounting a processing tool, and the end effector is mounted on the movable platform; the parallel module comprises a first motion branch, a second motion branch and a third motion branch which are vertically arranged, the first motion branch and the second motion branch are arranged in a bilateral symmetry mode, and the third motion branch is located on the rear side of the middle part between the first motion branch and the second motion branch;
the first motion branch, the second motion branch and the third motion branch are formed by sequentially connecting a sliding module, an inclined plane saddle assembly, a first driven joint, a connecting rod and a second driven joint in series, the second driven joint of each module is connected with the movable platform, and the first driven joint is a revolute pair and is respectively connected with the inclined plane saddle assembly and the connecting rod through a rotating shaft;
the second passive joints of the first motion branch and the second motion branch are Hooke joints formed by crossing two revolute pairs, one end of each passive joint is connected with a connecting rod through a locked long shaft A which cannot rotate around the axis of the passive joint, and the other end of each passive joint is connected with a movable platform through a short shaft A and a transverse shaft A which can rotate around the axis of the passive joint in sequence;
the second passive joint of the third motion branch is a spherical hinge formed by three revolute pairs which are vertically crossed, one end of the second passive joint is connected with a connecting rod through a long shaft B which is not locked and can rotate around the axis of the second passive joint, and the other end of the second passive joint is connected with a movable platform through a short shaft B and a horizontal shaft B which can rotate around the axis of the second passive joint in sequence;
the sliding module comprises a connecting plate A, a guide rail A, a screw rod A and a servo motor A, wherein the guide rail A, the screw rod A and the servo motor A are arranged on the connecting plate A, two ends of the screw rod A are arranged on the connecting plate A through bearing seats, the guide rail A is positioned on the inner side of the screw rod A, an output shaft of the servo motor A is connected and transmitted with the end, far away from the movable platform, of the screw rod A through a coupler, the guide rail A is parallel to the screw rod A, the inclined plane sliding saddle assembly is sleeved on the screw rod A and is in threaded fit with the screw;
the series module is connected in series in proper order by first slip module, straight saddle subassembly, second slip module and workstation, first slip module, the second slip module is arranged respectively in X, Y axle directions, first slip module and second slip module structure are the same, all include connecting plate B, install guide rail B on connecting plate B, lead screw B, servo motor B, lead screw B both ends are installed on connecting plate B through the bearing housing, guide rail B is located lead screw B downside, guide rail B parallels with lead screw B, straight saddle subassembly and the lead screw A screw-thread fit on the first slip module and the guide rail B sliding fit on the first slip module, lead screw A screw-thread fit on workstation and the second slip module and the guide rail B sliding fit on the second slip module.
2. The hybrid machine tool with overconstrained few-degree-of-freedom parallel modules according to claim 1, wherein: each servo motor is respectively installed on the corresponding connecting plate through the motor cabinet.
3. The hybrid machine tool with overconstrained few-degree-of-freedom parallel modules according to claim 1, wherein: the inclined plane saddle subassembly includes the inclined plane saddle, install slider A on the inclined plane saddle, screw-nut A and the lead screw thread fit that corresponds, slider A and the guide rail sliding fit that corresponds, straight saddle subassembly includes straight saddle, install slider B on straight saddle, screw-nut B and the lead screw thread fit that corresponds, slider B and the guide rail sliding fit that corresponds, install slider C on the work piece bench, screw-nut C and the lead screw thread fit that corresponds, slider C and the guide rail sliding fit that corresponds.
4. The hybrid machine tool with overconstrained few-degree-of-freedom parallel modules according to claim 1, wherein: the projections of the geometric centers of the first passive joints on the first motion branch, the second motion branch and the third motion branch on the horizontal plane form an isosceles right triangle A, the geometric center of the first passive joint on the third motion branch is positioned at the right angle of the isosceles right triangle A, the geometric centers of the three second passive joints connected on the movable platform form an isosceles right triangle B, and the geometric center of the second passive joint on the third motion branch is positioned at the right angle of the isosceles right triangle B.
5. The hybrid machine tool with overconstrained few-degree-of-freedom parallel modules according to claim 1, wherein: the axes of the transverse shafts of the second passive joints connected with the movable platform on the first movement branch, the second movement branch and the third movement branch are parallel to each other, and the axes of the long shafts of the three second passive joints connected with the movable platform are vertical to the crossed short shafts.
6. The hybrid machine tool with overconstrained few-degree-of-freedom parallel modules according to claim 5, wherein: the axes of the long axes of the three second passive joints connected to the movable platform are perpendicular to the short axis and the axis of the first passive joint, and the axes of the short axis and the transverse axis in each branch are perpendicular to each other.
7. The hybrid machine tool with overconstrained few-degree-of-freedom parallel modules according to claim 6, wherein: the axes of the first passive joint on the first motion branch and the second motion branch and the axis of the short shaft in the second passive joint on the branch are parallel to each other and are simultaneously perpendicular to the axis of the first passive joint on the third motion branch.
8. The hybrid machine tool with overconstrained few-degree-of-freedom parallel modules according to claim 7, wherein: the third motion branch forms a constraint force which passes through the geometric center of a second passive joint on the motion branch and is parallel to the axial direction of the first passive joint on the movable platform; the first motion branch and the second motion branch respectively form a constraint force and a constraint force couple on the movable platform, the constraint force passes through the geometric center of a second passive joint on each motion branch and is parallel to the axial direction of the first passive joint, the constraint force couple is simultaneously vertical to the axial directions of a minor axis and a transverse axis in the second passive joint on each motion branch, and the constraint force couple of the first motion branch and the second motion branch are respectively parallel to form two pairs of over-constraint; and the constraint of the first motion branch, the second motion branch and the third motion branch enables the movable platform to form three-degree-of-freedom motion capability of rotating around an X axis and a Y axis and moving along a Z axis direction.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922126257.2U CN211219637U (en) | 2019-12-02 | 2019-12-02 | Parallel-serial machine tool with over-constrained parallel modules with few degrees of freedom |
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| CN201922126257.2U CN211219637U (en) | 2019-12-02 | 2019-12-02 | Parallel-serial machine tool with over-constrained parallel modules with few degrees of freedom |
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| CN211219637U true CN211219637U (en) | 2020-08-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774015A (en) * | 2019-12-02 | 2020-02-11 | 福州大学 | Hybrid machine tool containing over-constrained less-degree-of-freedom parallel module and motion method |
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2019
- 2019-12-02 CN CN201922126257.2U patent/CN211219637U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774015A (en) * | 2019-12-02 | 2020-02-11 | 福州大学 | Hybrid machine tool containing over-constrained less-degree-of-freedom parallel module and motion method |
| CN110774015B (en) * | 2019-12-02 | 2024-06-04 | 福州大学 | Series-parallel machine tool with overconstrained few-degree-of-freedom parallel modules and movement method |
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