CN106002342A - Five-axis linkage series-parallel machine tool - Google Patents
Five-axis linkage series-parallel machine tool Download PDFInfo
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- CN106002342A CN106002342A CN201610514751.4A CN201610514751A CN106002342A CN 106002342 A CN106002342 A CN 106002342A CN 201610514751 A CN201610514751 A CN 201610514751A CN 106002342 A CN106002342 A CN 106002342A
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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
- B23Q1/64—Movable or adjustable work or tool supports characterised by the purpose of the movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Mechanical Engineering (AREA)
- Robotics (AREA)
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Abstract
The invention relates to a five-axis linkage series-parallel machine tool and belongs to the technical field of machine tools. The five-axis linkage series-parallel machine tool comprises a rack, a movable platform, a first branch, a second branch, a third branch and a two-freedom-degree rotating head; the first branch and the second branch are symmetrically arranged and are of the same structure, and the first branch and the second branch are each composed of a connection frame and a linear driving unit which are sequentially connected from the rack to the movable platform; the third branch is composed of a third branch connection block and a third branch linear driving unit which are sequentially connected from the rack to the movable platform; and the two-freedom-degree rotating head is driven by two servo motors to achieve mutual perpendicular rotation of two axes. Compared with an existing five-axis linkage machine tool, the geometric assembly relations of all the kinematic pair axes of the five-axis linkage series-parallel machine tool are simple, the manufacturing processes of all parts are simple, the work space is large, and rigidity is high; and the five-axis linkage series-parallel machine tool can be manufactured or used in the industrial sector, the instrument industry and other industries, is applicable to machining of high-precision and complicated curved faces, can generate an obvious economic effect and has good application prospects.
Description
Technical field
The present invention relates to a kind of five-axle linkage Series-parallel Machine, belong to machine tool technology field.
Background technology
It is said that in general, parallel institution has higher rigidity, precision and bearing capacity than serial mechanism, and serial mechanism ratio is also
Online structure has bigger work space.Parallel machine is combined based on two turn of one five-axle linkage Series-parallel Machine moving parallel institution
Structure and the advantage of serial mechanism, have higher bearing capacity and bigger work space.
At present, most typical is Sweden NeosRobotics based on two turn of one five-axle linkage Series-parallel Machine moving parallel institution
The Tricept lathe that company produces, including fixed platform, moving platform, four branches of connection moving platform and frame be connected
The two-freedom rotary head of moving platform, first, second, and third branched structure is identical, and for UPS structure, intermediate restraint divides
Prop up as UP structure；Patent documentation CN102126217A discloses a kind of unsymmetrical knot with two turn of one shift three degrees of freedom
Structure parallel institution, this mechanism is made up of three motion branches of frame, moving platform and connection frame with moving platform, first point
Propping up identical with the second branched structure, for RPS structure, the 3rd branches into RPRU structure；Patent documentation CN103252683A
Disclose a kind of five degree of freedom Series-parallel Machine, including column, lathe bed, workbench, bracing frame, moving platform, first,
Second, third branch and positioning head composition, first, second branched structure is identical, and for UPS structure, the 3rd branches into
UP structure；Patent documentation CN103144106B discloses a kind of asymmetric parallel machine with two turn of one shift three degrees of freedom
Structure, this mechanism is made up of three branches of fixed platform, motion platform and connection two platform, and first branches into URR knot
Structure, second branches into URS structure, and the 3rd branches into RRU structure；Patent documentation CN101966501A discloses one
Planting five degree of freedom spray robot based on 3-freedom parallel mechanism, this mechanism is by fixed platform, motion platform and connection
Three branch's compositions of two platforms, three branched structures are identical, for RPS structure；Patent documentation CN102126216A
Disclosing a kind of symmetrical structure parallel institution with two turn of one shift three degrees of freedom, this mechanism is by fixed platform, motion platform
Forming with three branches connecting two platforms, three branched structures are identical, for RPU structure；Patent documentation
CN102922515A discloses a kind of two turn of one shift three degrees of freedom space parallel mechanism, and this mechanism is by fixed platform, motion
Platform and connect three branches composition of two platforms, the first branch is identical with the second branched structure, for RPU structure, the
Three branch into the SPR structure containing parallel-crank mechanism；Patent documentation CN103056870B discloses a kind of two turn one
Motion three-freedom-degree parallel mechanism, this mechanism is made up of three branches of fixed platform, motion platform and connection two platform, the
One branch is identical with the second branched structure, and for RRS structure, the 3rd branches into SRR structure；Patent documentation
CN103144095B discloses a kind of asymmetric parallel institution with two turn of one shift three degrees of freedom, and this mechanism is flat by fixing
Three branch's compositions of platform, motion platform and connection two platform, first branches into URR structure, and second branches into UPS
Structure, the 3rd branches into RPU structure；Patent documentation CN103144096B discloses a kind of two turn of one shift three degrees of freedom
Without the asymmetric parallel institution of Planar Mechanisms, this mechanism is made up of three branches of fixed platform, motion platform and connection two platform,
First branches into SPR structure, and second branches into UPR structure, and the 3rd branches into UPS structure；Patent documentation
CN103600346A discloses a kind of two turn of one motion three-freedom-degree parallel mechanism, and this mechanism is by fixed platform, motion platform
With connect three branches composition of two platforms, the first branch is identical with the second branched structure, for RRS structure, the 3rd point
Prop up as SRR structure；Patent documentation CN103144095B discloses a kind of two turn of one asymmetric decoupling of shift three degrees of freedom also
Online structure, including three branches of moving platform, frame, connection moving platform and frame, first branches into UPR structure, the
Two branch into UPS structure, and the 3rd branches into RPU structure.
Summary of the invention
For the deficiencies in the prior art, the invention provides a kind of five-axle linkage Series-parallel Machine, this lathe is by one three
Freedom degree parallel connection mechanism and a two-freedom rotary head are in series, and are different from the structure of existing any lathe, should
Lathe has that the assembling geometrical relationship between kinematic pair axis is simple, work space is big, rigidity is high, manufacture assembling easily etc.
Advantage.
Realizing the technical scheme that the object of the invention used is, a kind of five-axle linkage Series-parallel Machine, including frame, dynamic flat
Platform, first, second, and third branch being connected in parallel between frame and moving platform and be connected in series on moving platform
Two-freedom rotary head, described first branch is arranged symmetrically with the second branch and structure is identical, by suitable from frame to moving platform
Connection framework and straight line slide unit that sequence connects are constituted, and described straight line slide unit includes servomotor, shaft coupling, leading screw, nut
Slide block, gripper shoe and be symmetrically distributed in two long straight slide block guide rails of leading screw both sides, revolute pair is passed through in the one end connecting framework
Be connected with frame, the other end is connected with the nut slider of straight line slide unit by revolute pair, and the gripper shoe of straight line slide unit is by multiple
Close ball pivot and be connected to moving platform；Described 3rd branch is by the 3rd branch's contiguous block being linked in sequence from frame to moving platform and
Three branch straight line slide units are constituted, described 3rd branch's straight line slide unit include servomotor, shaft coupling, leading screw, nut slider,
Gripper shoe and two the long straight slide block guide rails being symmetrically distributed in leading screw both sides；Revolute pair is passed through in one end of 3rd branch's contiguous block
Be connected with frame, the nut slider of the other end and the 3rd branch's straight line slide unit is connected；The gripper shoe of the 3rd branch's straight line slide unit
It is connected to moving platform by revolute pair, and the axis of this revolute pair is vertical with the direction of motion of the 3rd branch's straight line slide unit；Institute
State two-freedom rotary head by two orthogonal driven by servomotor of rotating shaft.
A kind of five-axle linkage Series-parallel Machine, including frame, moving platform, be connected in parallel between frame and moving platform the
One, second and the 3rd branch and the two-freedom rotary head that is connected in series on moving platform, described first branch with second point
It is arranged symmetrically with and structure is identical, constituted by the connection framework being linked in sequence from frame to moving platform and electric cylinder, described
One end of connection framework is connected with frame by revolute pair, the other end is connected with the cylinder barrel of electric cylinder by revolute pair, electronic
The piston rod of cylinder is connected to moving platform by compound spherical hinge；Described 3rd branch is by be linked in sequence from frame to moving platform
Three branch's contiguous blocks and the 3rd branch electric cylinder are constituted, one end of the 3rd branch's contiguous block is connected with frame by revolute pair,
The cylinder barrel of the other end and the 3rd branch's electric cylinder is connected, and the piston rod of the 3rd branch's electric cylinder is connected to dynamic flat by revolute pair
Platform, and the axis of this revolute pair is vertical with the direction of motion of the 3rd branch's electric cylinder；Described two-freedom rotary head passes through two
The orthogonal driven by servomotor of rotating shaft.
As shown from the above technical solution, the present invention provide five-axle linkage Series-parallel Machine, mainly by frame, moving platform,
Three branches being connected in parallel between frame and moving platform and the two-freedom rotary head being connected on moving platform are constituted, the
One, the second branched structure is identical, and for the UPS structure containing composite hinge, the 3rd branches into RPR structure, and its structure is with existing
Some lathes are the most different, and this lathe can realize bigger work space, and rigidity is high, and assembling manufacturing is easy；Linear motion
Realized by electric cylinder or straight line slide unit, significantly simplified the structure of existing five-axis machine tool, and controlled simple.
Compared with prior art, the present invention solves that five-axis machine tool is simplified and increased the problems such as work space and provides one
Planting the technical schemes of difference design, the five-axle linkage Series-parallel Machine that the present invention provides is series parallel structure, each motion countershaft
Assembling geometrical relationship between line is simple, and each manufacturing process of components is simple；In existing document, relate to five axle connection in series-parallel machines
The patent of bed is more, but the structure of the present invention is different from the structure of existing any five-axle linkage Series-parallel Machine, and
And the existing most structure of these five-axis machine tools is complicated, work space is less, and the dress between the kinematic pair axis of the present invention
Join that geometrical relationship is simple, work space is big, rigidity is high；This invention can manufacture in the industries such as industry, apparatus or make
With, it is adaptable to high accuracy and complex-curved processing, it is possible to produce obvious economic effect, have a good application prospect.
Accompanying drawing explanation
The complete machine structure schematic diagram of the five-axle linkage Series-parallel Machine that Fig. 1 provides for embodiment 1；
The structural representation of the first or second branch of the five-axle linkage Series-parallel Machine that Fig. 2 provides for embodiment 1；
The structural representation of the 3rd branch of the five-axle linkage Series-parallel Machine that Fig. 3 provides for embodiment 1；
Wherein, 1.-frame, 2.-moving platform；1-the first branch, 11-connects framework, 12-straight line slide unit, 12a-servo electricity
Machine, 12b-shaft coupling, 12c-gripper shoe, 12d-leading screw, the straight slide block guide rail of 12e-length, 12f-nut slider, R11-first
Revolute pair, R12-the second revolute pair, S1-compound spherical hinge；2-the second branch, 21-connects framework, 22-straight line slide unit；3-
3rd branch, 31-the 3rd branch's contiguous block, 32-the 3rd branch straight line slide unit, 32a-servomotor, 32b-shaft coupling, 32c-
Gripper shoe, 32d-leading screw, the straight slide block guide rail of 32e-length, 32f-nut slider, R31-the 3rd revolute pair, R32-the 4th rotates
Secondary；4-two-freedom rotary head.
The complete machine structure schematic diagram of the five-axle linkage Series-parallel Machine that Fig. 4 provides for embodiment 2；
The structural representation of the first or second branch of the five-axle linkage Series-parallel Machine that Fig. 5 provides for embodiment 2；
The structural representation of the 3rd branch of the five-axle linkage Series-parallel Machine that Fig. 6 provides for embodiment 2；
Wherein, 1.-frame, 2.-moving platform；1-the first branch, 11-connects framework, 12-electric cylinder, 12a-servomotor,
12b-cylinder barrel, 12c-piston rod, R11-the first revolute pair, R12-the second revolute pair, S1-compound spherical hinge；2-the second branch,
21-connects framework, 22-electric cylinder；3-the 3rd branch, 31-the 3rd branch's contiguous block, 32-the 3rd branch's electric cylinder, 32a-
Servomotor, 32b-cylinder barrel, 32c-piston rod, R31-the 3rd revolute pair, R32-the 4th revolute pair；4-two-freedom turns
Head.
Detailed description of the invention
For present disclosure, function and feature can be further appreciated that, with embodiment, the present invention is carried out below in conjunction with the accompanying drawings
Illustrating in detail, present disclosure is not limited to following example.
Embodiment 1:
The invention provides a kind of five-axle linkage Series-parallel Machine, its structure as it is shown in figure 1, include frame 1., moving platform
2., be connected in parallel frame 1. with moving platform 2. between have mutually isostructural first the 1, second branch 2 of branch and knot
The 3rd branch 3 that structure is different, and it is connected in series in the two-freedom rotary head 4 that 2. moving platform is gone up；
First branch 1 be symmetrically arranged in the second branch 2 frame 1. or moving platform 2. both sides and structure identical, see figure
2, the first branch 1 and the second branch 2 are sliding by the connection framework 11 being 1. 2. linked in sequence to moving platform from frame and straight line
Platform 12 is constituted, described straight line slide unit 12 include servomotor 12a, shaft coupling 12b, gripper shoe 12c, leading screw 12d,
Nut slider 12f and two the long straight slide block guide rail 12e being symmetrically distributed in leading screw 12d both sides, gripper shoe 12c is straight line
The integrated support of slide unit 12,2. gripper shoe 12c is connected to moving platform by compound spherical hinge S1, and one end of leading screw 12d leads to
Cross that shaft coupling 12b is connected with servomotor 12a, the other end is connected in gripper shoe 12c, described two long straight slide block guide rails
12e two ends are all respectively and fixedly connected in gripper shoe 12c, and leading screw 12d coordinates with nut slider 12f rotation is converted into movement,
Nut slider 12f is placed on two long straight slide block guide rail 12e simultaneously, and two long straight slide block guide rail 12e play support and guide work
With；1. one end of connection framework 11 is connected by the first revolute pair R11 with frame, the other end passes through the second revolute pair R12
Be connected with the nut slider 12f of straight line slide unit 12, the first revolute pair R11 and the second revolute pair R12 axis co-planar and hang down
Directly, and the second revolute pair R12 axis is vertical with the direction of motion of straight line slide unit 12；
Seeing Fig. 3, described 3rd branch 3 is without even with the difference of described first the 1, second branch 2 of branch
Connecing framework 11, and set up the 3rd branch's contiguous block 31, the 3rd branch 3 is by being 1. 2. linked in sequence to moving platform from frame
3rd branch's contiguous block 31 and the 3rd branch's straight line slide unit 32 are constituted, and described 3rd branch's straight line slide unit 32 includes servo
Motor 32a, shaft coupling 32b, leading screw 32d, nut slider 32f, gripper shoe 32c and be symmetrically distributed in leading screw both sides
Article two, long straight slide block guide rail 32e, gripper shoe 32c is the integrated support of the 3rd branch's straight line slide unit 32, the one of leading screw 32d
End is connected with servomotor 32a by shaft coupling 32b, the other end is connected in gripper shoe 32c, described two long straight slide blocks
Guide rail 32e two ends are all respectively and fixedly connected in gripper shoe 32c, and leading screw 32d coordinates with nut slider 32f and rotation is converted into
Mobile, nut slider 32f is placed on two long straight slide block guide rail 32e simultaneously, two long straight slide block guide rail 32e rise support and
Guide effect, 1. one end of described 3rd branch's contiguous block 31 is connected by the 3rd revolute pair R31 with frame, the other end
Affixed with the nut slider 32f of the 3rd branch's straight line slide unit 32, gripper shoe 32c of the 3rd branch's straight line slide unit 32 is passed through
2. 4th revolute pair R32 is connected to moving platform, and the axis of the 4th revolute pair R32 is perpendicular to the 3rd branch's straight line slide unit 32
The direction of motion；
1. and 2. moving platform is connected formation one three certainly with frame respectively for first the 1, second branch of branch 2 and the 3rd branch 3
By degree parallel institution, this 3-freedom parallel mechanism by each straight line slide unit 12,22,32 by its servomotor 12a,
The rotation input of 22a, 32a is converted into rectilinear movement, drives moving platform 2. to move with this, it is achieved two turn one is moved three certainly
By spending；
Described two-freedom rotary head 4 has two rotational freedoms, and the rotation axis of two rotational freedoms is mutually perpendicular to,
Two-freedom rotary head 4 drives electro spindle by two servomotor input motions, it is achieved two rotational freedoms, and two freely
Degree rotary head 4 constitutes a five-axle linkage Series-parallel Machine with 3-freedom parallel mechanism.
Embodiment 2:
The invention provides a kind of five-axle linkage Series-parallel Machine, its structure as shown in Figure 4, including frame 1., moving platform
2., be connected in parallel frame 1. with moving platform 2. between have mutually isostructural first the 1, second branch 2 of branch and knot
The 3rd branch 3 that structure is different, and it is connected in series in the two-freedom rotary head 4 that 2. moving platform is gone up；
First branch 1 be symmetrically arranged in the second branch 2 frame 1. or moving platform 2. both sides and structure identical, see figure
5, the first branch 1 and the second branch 2 are by the connection framework 11 being 1. 2. linked in sequence to moving platform from frame and electric cylinder
12, described electric cylinder 12 includes servomotor 12a, cylinder barrel 12b and piston rod 12c；The one of described connection framework 11
1. end is connected with frame by the first revolute pair R11, the other end cylinder barrel 12b by the second revolute pair R12 with electric cylinder
Connect, the first revolute pair R11 and R12 axis co-planar and vertical, and the second revolute pair R12 axis and electric cylinder 12
The direction of motion vertical；2. the piston rod 12c of described electric cylinder is connected to moving platform by compound spherical hinge S1；
Seeing Fig. 6, described 3rd branch 3 is without even with the difference of described first the 1, second branch 2 of branch
Connecing framework 11, and set up the 3rd branch's contiguous block 31, the 3rd branch 3 is by being 1. 2. linked in sequence to moving platform from frame
3rd branch's contiguous block 31 and the 3rd branch's electric cylinder 32 are constituted, and described 3rd branch's electric cylinder 32 includes servomotor
32a, cylinder barrel 32b and piston rod 32c, one end of the 3rd branch's electric cylinder 32 and frame are 1. by the 3rd revolute pair R31
Connect, 2. the other end is connected by the 4th revolute pair R32 with moving platform, and the 4th revolute pair R32 axis is perpendicular to the 3rd
The direction of motion of branch's electric cylinder 32；
1. and 2. moving platform is connected formation one three certainly with frame respectively for first the 1, second branch of branch 2 and the 3rd branch 3
By degree parallel institution, this 3-freedom parallel mechanism by each electric cylinder 12,22,32 by its servomotor 12a, 22a,
The rotation input of 32a is converted into rectilinear movement, drives moving platform 2. to move with this, it is achieved two turn one is moved three degree of freedom；
Described two-freedom rotary head 4 has two rotational freedoms, and the rotation axis of two rotational freedoms is mutually perpendicular to,
Two-freedom rotary head 4 drives electro spindle by two servomotor input motions, it is achieved two rotational freedoms, two-freedom
Rotary head 4 constitutes a five-axle linkage Series-parallel Machine with 3-freedom parallel mechanism.
Claims (2)
1. a five-axle linkage Series-parallel Machine, including frame, moving platform, is connected in parallel between frame and moving platform
First, second, and third branch and the two-freedom rotary head that is connected in series on moving platform, it is characterised in that: described
First branch is arranged symmetrically with the second branch and structure is identical, by the connection framework being linked in sequence from frame to moving platform and
Straight line slide unit is constituted, and described straight line slide unit includes servomotor, shaft coupling, leading screw, nut slider, gripper shoe and symmetry
Being distributed in two long straight slide block guide rails of leading screw both sides, one end of connection framework is connected with frame by revolute pair, the other end
Being connected by the nut slider of revolute pair with straight line slide unit, the gripper shoe of straight line slide unit is connected to dynamic flat by compound spherical hinge
Platform；Described 3rd branch is by the 3rd branch's contiguous block being linked in sequence from frame to moving platform and the 3rd branch's straight line slide unit structure
Becoming, described 3rd branch's straight line slide unit includes servomotor, shaft coupling, leading screw, nut slider, gripper shoe and symmetrical point
It is distributed in two long straight slide block guide rails of leading screw both sides；One end of 3rd branch's contiguous block is connected with frame by revolute pair, separately
One end is connected with the nut slider of the 3rd branch's straight line slide unit；The gripper shoe of the 3rd branch's straight line slide unit is connected by revolute pair
To moving platform, and the axis of this revolute pair is vertical with the direction of motion of the 3rd branch's straight line slide unit；Described two-freedom rotary head
By two orthogonal driven by servomotor of rotating shaft.
2. a five-axle linkage Series-parallel Machine, including frame, moving platform, is connected in parallel between frame and moving platform
First, second, and third branch and the two-freedom rotary head that is connected in series on moving platform, it is characterised in that: described
First branch is arranged symmetrically with the second branch and structure is identical, by the connection framework being linked in sequence from frame to moving platform and
Electric cylinder is constituted, and one end of described connection framework is connected with frame by revolute pair, the other end passes through revolute pair and electric cylinder
Cylinder barrel connect, the piston rod of electric cylinder is connected to moving platform by compound spherical hinge；Described 3rd branch by from frame to dynamic
The 3rd branch's contiguous block and the 3rd branch's electric cylinder that platform is linked in sequence are constituted, and one end of the 3rd branch's contiguous block is by turning
Dynamic pair is connected with frame, the cylinder barrel of the other end and the 3rd branch's electric cylinder is connected, and the piston rod of the 3rd branch's electric cylinder passes through
Revolute pair is connected to moving platform, and the axis of this revolute pair is vertical with the direction of motion of the 3rd branch's electric cylinder；Described two certainly
By degree rotary head by two orthogonal driven by servomotor of rotating shaft.
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| CN201610514751.4A CN106002342B (en) | 2016-07-01 | 2016-07-01 | A kind of five-axle linkage Series-parallel Machine |
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| CN115922674A (en) * | 2023-01-05 | 2023-04-07 | 哈尔滨工业大学（深圳） | Three-degree-of-freedom redundant parallel-connection end force control actuator based on 2UPR-2RRU mechanism |
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