CN101966652B - Three-axis digital plane type parallel manipulator - Google Patents

Abstract

A three-axis numerically controlled planar parallel manipulator, comprising a linear guide rail one (MM'), a linear guide rail two (KK'), a linear guide rail three (LL'), and a slider one (1 ), slider two (2), slider three (3), platform operation slider four (6), connecting rod one (4), connecting rod two (5), connecting rod three (7), it is characterized in that the platform After operating slider 4 (6) and connecting rod 2 (5) to form moving pair 4 (P ₆ ), the rotating pair 1 (R ₅ ) is connected with connecting rod 1 (4), and connecting rod 2 (5) One end is connected to connecting rod three (7) with rotating pair two (R ₈ ); further, the other ends of connecting rod one (4), connecting rod two (5) and connecting rod three (7) are respectively connected with rotating pair three (R ₄ ), the fourth rotating pair (R ₇ ), the fifth rotating pair (R ₉ ), connected with the second linear guide (KK′) to form the first slider (1) of the first moving pair (P ₁ ), and the third linear guide (LL ′) The second slide block (2) forming the second moving pair (P ₂ ), and the third sliding block (3) forming the third moving pair (P ₃ ) with the first linear guide rail (MM'). This planar parallel manipulator has the advantages of simple structure, easy manufacture, control decoupling, large motion working space, high positioning accuracy, etc., and can be widely used in numerical control processing or operation.

Description

A Three-Axis CNC Plane Parallel Manipulator

technical field

The invention relates to a three-axis numerical control planar parallel operator, in particular, it provides a new and efficient numerical control device for the numerical control machining, conveying and feeding operations of especially long and large workpieces.

Background technique

The industry often needs a planar three-degree-of-freedom CNC operating platform with simple structure and low manufacturing cost. The serial robot manipulator has complex structure, poor rigidity, and poor dynamic response performance, while the general parallel manipulator, for example, various two-degree-of-freedom planar manipulators with two sliders on the same guide rail, such as patent application documents [200420083801.0], [ 200710177514.4], etc.), two-degree-of-freedom planar manipulators with two sliders on two parallel guide rails, such as patent application documents [200910181312.6], [200910181313.0], etc., can only provide two-degree-of-freedom plane position X, Y positioning , but cannot provide a rotation angle perpendicular to the plane. The patent application document [201010256966.3] provides a three-axis planar CNC parallel motion operation platform with three outputs as X, Y, and θ, but the change range of the workpiece pose is not very large. Therefore, the present invention provides a three-axis plane type numerical control parallel manipulator with simple structure, easy operation, low manufacturing cost, larger motion range, and output of X, Y, θ.

Contents of the invention

The present invention provides a three-axis numerically controlled planar parallel operator, comprising linear guide rail one (MM'), linear guide rail two (KK'), linear guide rail three (LL'), sliding Block one (1), slider two (2), slider three (3), platform operation slider four (6), connecting rod one (4), connecting rod two (5), connecting rod three (7), After platform operation slider 4 (6) and connecting rod 2 (5) constitute moving pair 4 (P ₆ ), it is connected with connecting rod 1 (4) by revolving pair 1 (R ₅ ), and connecting rod 2 (5) One end of connecting rod three (7) is connected with rotating pair two (R ₈ ); further, the other end of connecting rod one (4), connecting rod two (5), and connecting rod three (7) are respectively connected with rotating pair three ( R ₄ ), the fourth rotating pair (R ₇ ), the fifth rotating pair (R ₉ ), connected with the second linear guide (KK′) to form the slider one (1) of the first moving pair (P ₁ ), and the third linear guide ( LL') constitutes the second slide block (2) of the second moving pair (P ₂ ), and the third slide block (3) of the third moving pair (P ₃ ) with the linear guide rail one (MM'). Among them, the first linear guide (MM'), the second linear guide (KK'), and the third linear guide (LL') are in the plane parallel to each other or in the same plane; further, the first linear guide (MM'), the linear guide The second guide rail (KK') and the third linear guide rail (LL') can be combined into two guide rails respectively or combined into one guide rail.

When the three sliders take different positions, the position and posture X, Y, and θ of the platform operation slider four (6) equipped with workpieces or cutting tools are uniquely determined. On the contrary, once the position and attitude of platform operation slide block four (6) are known, it can be realized by controlling three slide blocks. The parallel manipulator has the advantages of simple structure, easy manufacture, control decoupling, large working space, and high positioning accuracy. Precise localization in different poses.

Description of drawings

Accompanying drawing 1 is the mechanism diagram of the first embodiment of the present invention.

Accompanying drawing 2 is the mechanism diagram of the second embodiment of the present invention.

Accompanying drawing 3 is the mechanism diagram of the third embodiment of the present invention.

Accompanying drawing 4 is the schematic diagram of the principle that the mechanism of the first embodiment of the present invention has a larger working space.

Detailed ways

Accompanying drawing 1 is the first embodiment of the three-axis numerically controlled planar parallel operator of the present invention, which includes a linear guide rail 1 MM', a linear guide rail 2 KK', a linear guide rail 3 LL', and a slider fixed on the frame 0. One 1, slide block two 2, slide block three 3, platform operation slide block four 6, connecting rod one 4, connecting rod two 5, connecting rod three 7, platform operation slide block four 6 and connecting rod two 5 constitute mobile pair four After P ₆ , connect with connecting rod one ₄ with rotating pair one R 5 again, and one end of connecting rod two 5 connects connecting rod three 7 with rotating pair two R ₈ ; Further, connecting rod one 4, connecting rod two 5, connecting rod two The other end of rod 3 7 is connected with linear guide rail 2 KK′ to form sliding block 1 of moving pair 1 P ₁ , and linear guide rail 3 with rotating pair 3 R ₄ , rotating pair 4 R ₇ , and rotating pair 5 R ₉ respectively. LL' forms slider 2 of moving pair 2 P ₂ , and linear guide rail 1 MM' constitutes slider 3 3 of moving pair 3 P ₃ , wherein, linear guide rail 1 MM', linear guide rail 2 KK', linear guide rail 3 LL 'The three are in mutually parallel planes or in the same plane;

Accompanying drawing 2 is the second embodiment of the three-axis numerically controlled planar parallel operator of the present invention, linear guide rail 1 MM', linear guide rail 2 KK', linear guide rail 3 LL' are combined into two guide rails respectively, wherein, Fig. 2(a) is linear guide rail two KK', linear guide rail three LL' overlap; Figure 2(b) is linear guide rail one MM', linear guide rail two KK' coincidence; Figure 2(c) is linear guide rail one MM', straight line Three guide rails LL' coincide;

Fig. 3 is the third embodiment of the three-axis numerical control planar parallel operator of the present invention, linear guide rail 1 MM', linear guide rail 2 KK', and linear guide rail 3 LL' combined into one guide rail.

The working principle and advantages of the operator are as follows:

When the three sliders are controlled to take different positions, the position and posture X, Y, and θ of the platform operating slider 46 equipped with workpieces or tools are uniquely determined. On the contrary, once the position of the platform operating slider 46 is known and attitude, it can be achieved by controlling the three sliders.

Through specific control, the mechanism can also be made to go from the configuration shown in Figure 4(a) to the singular position of motion shown in Figure 4(b) to another different configuration shown in Figure 4(c) , thereby greatly expanding the working space for the movement of the platform operating slider 46;

When the three sliders take the same speed, the platform operation slider 46 can realize long-distance conveying or feeding along the X-axis with a fixed posture, and after reaching the required working area, it can be moved at different positions. It can be widely used in CNC machining or operation of long workpieces and large workpieces. At this time, the tool or manipulator on the power head can only rotate at high speed; it can also be used for long-distance transportation and feeding of workpieces. Given, the workpiece needs to be fed in a certain posture or positioned at a specific position in space. The manipulator has the advantages of simple structure, easy manufacture, decoupling of control, high positioning accuracy and the like.

Claims (3)

1. A three-axis CNC planar parallel operator, including a linear guide rail one (MM'), a linear guide rail two (KK'), a linear guide rail three (LL'), and a slider fixed on the frame (0). (1), slider two (2), slider three (3), platform operation slider four (6), connecting rod one (4), connecting rod two (5), connecting rod three (7), its characteristics After platform operation slide block four (6) and connecting rod two (5) constitute moving pair four (P ₆ ), they are connected with connecting rod one (4) by revolving pair one (R ₅ ) again, and connecting rod two (5 ) is connected to connecting rod three (7) with rotating pair two (R ₈ ); further, the other ends of connecting rod one (4), connecting rod two (5), and connecting rod three (7) are connected with rotating pair three (R ₄ ), the fourth rotating pair (R ₇ ), the fifth rotating pair (R ₉ ), connected with the second linear guide (KK') to form the first slider (1) of the first moving pair (P ₁ ), and the third linear guide (LL') constitutes the second slide block (2) of the second moving pair (P ₂ ), and the third slide block (3) of the third moving pair (P ₃ ) with the linear guide rail one (MM'). 2. The three-axis numerical control planar parallel operator according to claim 1 is characterized in that linear guide rail one (MM'), linear guide rail two (KK'), and linear guide rail three (LL') are parallel to each other. in the same plane or in the same plane. 3. The three-axis numerically controlled planar parallel manipulator according to claim 1, characterized in that the first linear guide (MM'), the second linear guide (KK'), and the third linear guide (LL') are combined into two The root guide rail or the three are combined into one guide rail.

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