Parallel mechanism with four degrees of freedom

A degree of freedom, parallel technology, used in manipulators, program-controlled manipulators, metal processing mechanical parts, etc., can solve the problems of small workspace and mechanism, high manufacturing cost, complex structure, etc., to achieve good rigidity, low manufacturing cost, simple structure

Inactive Publication Date: 2009-07-15
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a four-degree-of-freedom parallel mechanism, which can solve the problems of complex structure, small working space and mechanism volume, and high manufacturing cost of the current six-degree-of-freedom parallel mechanism

Method used

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  • Parallel mechanism with four degrees of freedom

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specific Embodiment approach 1

[0008] Specific implementation mode one: combine figure 1 Describe this embodiment, this embodiment is made up of fixed platform 1, moving platform 2 and four telescopic links 3; The upper ends of described four telescopic links 3 are hinged with fixed platform 1 respectively, and the The lower ends of the first telescopic connecting rod 3-1 and the second telescopic connecting rod 3-2 are respectively connected with the motion platform 2 through the respective rotating pairs 4, the third telescopic connecting rod 3-3 and the third telescopic connecting rod 3 in the four telescopic connecting rods 3 The lower ends of the fourth telescopic link 3-4 are respectively hinged with the motion platform 2.

specific Embodiment approach 2

[0009] Specific implementation mode two: combination figure 1 To illustrate this embodiment, the upper end of the first telescopic link 3-1 and the upper end of the second telescopic link 3-2 of this embodiment are respectively hinged to the fixed platform 1 through the respective first Hooke hinges 5, the two The primary rotary axis 6 of the first Hooke hinge 5 is parallel to the Y axis, the secondary rotary axis 7 of the two first Hooke hinges 5 is parallel to the X axis, and the X axis and the Y axis are perpendicular to each other, ( The establishment of the coordinate system is: the Y-axis is parallel to the first-order rotary axis 6 directions of the two first Hooke hinges 5, the X-axis is in the plane of the fixed platform 1, and the Z-axis is perpendicular to the X-axis and the Y-axis respectively), so The upper end of the third telescopic connecting rod 3-3 and the upper end of the fourth telescopic connecting rod 3-4 are respectively hinged with the fixed platform 1 ...

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Abstract

A four-degree-of-freedom parallel mechanism relates to a four-degree-of-freedom parallel mechanism for a parallel machine tool. Aiming at the problems that the current six-degree-of-freedom parallel mechanism has a complex structure, the volume of the working space and the mechanism is relatively small, and the manufacturing cost is high. The upper ends of the first and second telescopic links of the present invention are hinged to the fixed platform (1) through the first Hooke hinge (5), the lower ends are connected to the moving platform (2) through the rotating pair (4), and the third and fourth telescopic links The upper end of the rod is hinged to the fixed platform (1) through the second Hooke hinge (8), and the lower end is hinged to the moving platform (2) through the spherical hinge (9). The motion platform of the present invention can realize three-dimensional movement and one-dimensional rotation in space, and a rotation degree of freedom can be connected in series on the motion platform or a workbench to realize five-degree-of-freedom motion of three-dimensional movement and two-dimensional rotation in space, which can completely replace the traditional The tandem multi-axis machine tool and six-degree-of-freedom parallel machine tool are used to realize the processing of space-complex curved surface parts.

Description

technical field [0001] The invention relates to a four-degree-of-freedom parallel mechanism for a parallel machine tool. Background technique [0002] In the past ten years, parallel machine tool has been a hot topic in the field of CNC machine tool research at home and abroad. Parallel machine tools, also known as virtual axis machine tools, are knowledge-intensive, intelligence-intensive, and technology-intensive mechatronics high-tech products. They are the intersection of multidisciplinary application technologies such as parallel robots, CNC machinery, computer control, precision measurement, and CNC machining. Scholars at home and abroad have invested a lot of research work on it. [0003] Judging from the general situation of the development of parallel machine tool products and technologies at home and abroad, most of the research in the past few years has focused on the six-degree-of-freedom parallel mechanism. In recent years, people have paid more and more atten...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23Q1/44B23Q1/50B25J9/08B25J9/10
Inventor 钟诗胜伞红军刘文涛王知行王瑞
Owner HARBIN INST OF TECH
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