Redundant drive active overconstrained three-degree-of-freedom parallel machine tool

An over-constraint, degree of freedom technology, applied to milling machines, milling machine equipment, milling machine equipment details, etc., can solve problems such as nonlinearity, strong coupling, large work space, and weak coupling, and achieve simple topology and large work space , the effect of weak coupling

Inactive Publication Date: 2018-01-05
BEIJING JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In recent years, the most successful example of the application of parallel mechanisms with few degrees of freedom to parallel machine tools is the application of Tricept series and Exechon series manipulators and their modules on parallel/hybrid machine tools. The mechanism configurations are 3UPS-UP and 2UPR-SPR, respectively. Although it has been widely used in the industrial field, it has nonlinearity, strong coupling, and complex control. In order to overcome the above shortcomings,

Method used

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  • Redundant drive active overconstrained three-degree-of-freedom parallel machine tool
  • Redundant drive active overconstrained three-degree-of-freedom parallel machine tool
  • Redundant drive active overconstrained three-degree-of-freedom parallel machine tool

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0037] Example 1:

[0038] Such as figure 1 The shown schematic diagram of the overall structure of the redundant drive active over-constraint three-degree-of-freedom parallel machine tool, which includes a movable platform 1, a fixed platform 2, a first motion branch chain group 3, a second motion branch chain group 4, and a third motion branch chain group 5. The fourth movement branch chain group 6. The spindle head 7. The structure of the first movement branch chain group and the second movement branch chain group are exactly the same. They are the main drive PRU branch, which includes a servo drive unit, a rotating sub-assembly, a branch body and a Hooke hinge. The servo drive unit (such as figure 2 (Shown) is composed of servo motor 1-1, motor support 1-2, coupling 1-3, bearing 1-7, bearing support 1-4 (1-8), bearing end cover 1-9, ball wire It consists of bars 1-6, nut pairs 1-5, guide rails 1-10, and sliders 1-11. The servo motor 1-1 is fixed on the motor support 1-2, and...

Example Embodiment

[0041] Example 2:

[0042] Such as Figure 5 As shown, the overall structure diagram of the redundant drive active over-constraint three-degree-of-freedom parallel machine tool, the parallel mechanism configuration is 2PRU-2PUU (II), including the moving platform, the fixed platform, the first motion branch chain group, the second motion branch Chain group, third movement branch chain group, fourth movement branch chain group, spindle head. Among them, the structure of the first movement branch chain group and the second movement branch chain group are completely the same, and the main drive PRU branch is the same as the structure and composition of the first embodiment.

[0043] The difference from Embodiment 1 is that the third and fourth motion branch chains are the main drive PUU (II) type branch, as shown in Figure 6, the first rotation axis 2 of its Hooke hinge -1 is perpendicular to its second rotation axis 2-2, the first rotation axis 2-1 is in the same direction as the gu...

Example Embodiment

[0044] Example 3:

[0045] Such as Figure 7 As shown, the overall structure diagram of the redundant drive active over-constrained three-degree-of-freedom parallel machine tool, the parallel mechanism configuration is 2PRU-PUU(I)-PUS, which includes a moving platform, a fixed platform, a first motion branch chain group, and a second The second movement branch chain group, the third movement branch chain group, the fourth movement branch chain group, the spindle head. The structure of the first movement branch chain group and the second movement branch chain group are completely the same, and the main drive PRU branch is the same structure and composition as the first embodiment.

[0046] The difference from Embodiment 1 is that the third movement branch chain group is the main drive PUU (I) type branch, the first rotation axis of the Hooke hinge is perpendicular to the second rotation axis, and the second rotation axis is perpendicular to the coordinate axis. Parallel, and the se...

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Abstract

The invention relates to a kind of redundantly driven active over-constraint three-degree-of-freedom parallel machine tool, which includes a moving platform 1, a fixed platform 2, and a first kinematic branch group 3, a second kinematic branch group 4, and a moving platform connected to the fixed platform. The third movement branch group 5, the fourth movement branch group 6, the structure of the first movement branch group and the second movement branch group are exactly the same, and the servo drive unit connects the branch body and the Hooke hinge through the rotating pair Connected with the moving platform, the third motion branch chain group is connected to the branch chain body through the Hooke hinge by the servo motor unit and connected to the moving platform through the Hooke hinge, and the fourth motion branch chain group is connected to the branch chain body by the servo drive unit through the Hooke hinge And the Hooke hinge or compound spherical hinge is connected with the moving platform. The invention synthesizes a three-degree-of-freedom parallel machine tool with two rotations and one movement, which has the advantages of simple branch chain, symmetrical structure, high degree of recombination and modularization, strong load capacity, excellent comprehensive performance, large working space, and avoidance of singular configurations, etc. It has good engineering practical application prospects.

Description

technical field [0001] The invention belongs to the technical field of machining and manufacturing of parallel machine tools, and specifically relates to a type of over-constrained parallel machine tool configuration based on 2PRU and 2RPU as the main drive, and is especially suitable for high-precision machining of complex special-shaped curved surfaces. Background technique [0002] At present, the traditional three-coordinate machine tool has the advantages of large working space and high flexibility, but because of the serial structure, the machine tool is large in size, long in the transmission chain, poor in stiffness, and has error accumulation; the traditional five-coordinate machine tool is based on the three-coordinate machine tool A 2-3 degree of freedom rotary head is installed at the end of the moving platform or a 2 degree of freedom rotary table is added, but its structure is open chain, and the mass of the moving parts is large, resulting in large motion inert...

Claims

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Application Information

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IPC IPC(8): B23C1/00B23C9/00
Inventor 张海强房海蓉方跃法杨会姜丙山
Owner BEIJING JIAOTONG UNIV
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