Two translation-rotary parallel connection mechanism for imaginary axis digital control machine tool and robot

A technology of CNC machine tools and robots, which is applied in the direction of program control manipulators, manipulators, metal processing machinery parts, etc., and can solve problems such as unfavorable control, small working space, and difficult kinematics solutions

Inactive Publication Date: 2005-03-02
JIANGSU POLYTECHNIC UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

For example, (1) kinematics is difficult to solve; (2) the motion platform pose is a strong coupling of input, which is not conducive to control; (3) the mechanism is complex, so that the work space is small; (4) it is difficult to manufacture high-precision ball pairs Wait

Method used

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  • Two translation-rotary parallel connection mechanism for imaginary axis digital control machine tool and robot
  • Two translation-rotary parallel connection mechanism for imaginary axis digital control machine tool and robot

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Embodiment Construction

[0008] attached figure 1 The structure shown may also be an embodiment of the invention. It consists of a dynamic platform 1, a static platform 2 and two generalized branches with different structures. The first generalized branch is routed by the mobile pair P 11 , 4 revolving pairs R perpendicular to the moving pair 91 , R 92 , R 93 , R 94 The parallelogram circuit formed, and the two revolving pairs R whose axes respectively coincide with the opposite sides of the quadrilateral 10 , R 8 formed in series. The second generalized branch consists of 4 revolving pairs R 2 , R 3 , R 4 , R 5 and 2 mobile vice P 1 ,P 6 The 6-bar planar circuit and a mutually perpendicular revolving pair R 7 formed in series. The end components of the two generalized branches are fixedly connected to the dynamic and static platforms respectively, and the two revolving pairs R located on the dynamic platform 7 , R 8 Arranged in parallel with each other, there are 3 moving pairs P loc...

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Abstract

The three-freedom parallel mechanism with two translations and one rotation for imaginary axis digital control machine tool and robot consists of dynamic platform, static platform, the first generalized branch and the second generalized branch. The first generalized branch consists of one first translation pair, one parallelogram loop perpendicular to the translation pair comprising four rotation pairs, and two rotation pairs with axes coinciding with the two opposite sides of the parallelogram connected serially. The second generalized branch consists of one six-rod planar loop comprising four rotation pairs and two translation pairs and one perpendicular rotation pair connected serially. The two generalized branches have their end members connected to the dynamic and static platform. Controlling the motion of the three translation pairs in the static platform can control the dynamic platform to realize 2D translation and 1D rotation output.

Description

technical field [0001] The invention relates to an executive mechanism of a machine tool and a robot. Specifically, it provides a new type of two-translation-rotation parallel mechanism for a virtual-axis numerical control machine tool with a parallel structure and a parallel robot. Background technique [0002] Parallel structure CNC machine tool refers to the machine tool with parallel mechanism as the executive mechanism. This machine tool is considered to be a revolution in the structure of machine tools since the 20th century. At present, prototypes of this machine tool have been developed in the United States, Japan and other countries, and the parallel mechanisms adopted are all traditional Stewart mechanisms. This mechanism for controlling the position and attitude of the tool in space is mainly composed of a base, a moving platform and a connecting rod. The base and the moving platform are connected by a connecting rod, and the two ends of the connecting rod are res...

Claims

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Application Information

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IPC IPC(8): B23Q1/48B25J9/08
Inventor 沈惠平杨廷力
Owner JIANGSU POLYTECHNIC UNIVERSITY
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