CN103753234A - Novel multi-axis linkage device - Google Patents

Abstract

The invention relates to a novel multi-axis linkage mixed device, which belongs to the technical field of numerical control device manufacturing. It includes a moving platform and a fixed platform on which an actuator is installed, and a third branch chain connecting the moving platform and the fixed platform; the third branch chain contains an actively driven kinematic pair; it is characterized in that: the device also includes Connect the first and second branch chains with the same structure between the moving platform and the fixed platform, and the first and second branch chains each contain two active-driven kinematic pairs; the first, second and third The branch chains are respectively connected with the fixed platform and the moving platform to form a space parallel closed-loop mechanism, which drives the moving platform to move through five input motions to realize three degrees of freedom of movement and two rotations; the device can also include a ring guide rail or workbench, The space parallel closed-loop mechanism and the annular guide rail or the workbench form a hybrid device that can realize up to six-axis linkage. The output motion of five degrees of freedom is realized through the structural form of three branches, and the structure is compact and the kinematics is simple.

Description

A new multi-axis linkage device

technical field

The invention belongs to the field of mechanical manufacturing, and in particular relates to a novel movable and portable multi-axis linkage device which can be applied to the field of numerical control device manufacturing. the

Background technique

In the field of machinery manufacturing, with the design of modern parts becoming more and more advanced and the processing technology more and more complex, large space free-form surface parts have been widely used in various key fields, such as aerospace, automobiles, marine propellers, turbines, etc. leaves etc. Such applications require manufacturing and processing equipment to be able to realize five-axis linkage processing capabilities, and under harsh working conditions, processing equipment is required to be able to realize five-sided processing with one clamping. In short, modern processing equipment should have better processing flexibility, rotation flexibility and higher processing efficiency. With the enlargement of parts and maintenance of large-scale equipment, some parts or large-scale equipment cannot be moved to the workbench of processing equipment, but need to be placed on the processing site, which requires the processing equipment to be mobile and portable. In view of the above application requirements, the modular design of processing equipment has become an effective way to meet the above requirements. The modular design of five-axis or multi-axis linkage equipment is very challenging. the

Parallel mechanism has become an ideal choice for modular design due to its compact structure, small mass of moving parts, high stiffness, good dynamic response characteristics, large carrying capacity per unit weight, and easy realization of high-speed motion. A parallel mechanism refers to a mechanism that is a closed loop composed of two or more kinematic branch chains and can control the terminal to achieve a certain output movement. In recent years, parallel mechanisms with fewer degrees of freedom (parallel mechanisms with less than six degrees of freedom) have attracted more and more attention from researchers because of their easy realization of larger workspaces (especially rotating workspaces) and ease of modularization. Favor, the five-degree-of-freedom parallel mechanism is the type with the most degrees of freedom among the few-degree-of-freedom parallel mechanisms. However, there are very few five-degree-of-freedom parallel mechanisms with strong engineering practicability. At present, the five-degree-of-freedom full-parallel equipment with the best application effect is a series of five-axis linkage equipment that can realize vertical and horizontal conversion, such as the PM1400, which has been successfully developed by the German Metrom company for more than ten years. The equipment adopts a modular design to realize the concept of mobility and portability. the

While Metrom has achieved the above success, there are still some key technical problems to be solved, such as the kinematics and structural complexity brought about by the five-branched chain, which in turn leads to mechanical interference and stiffness. In order to solve the above problems and propose a more ideal five-axis modular scheme, the present invention proposes a five-degree-of-freedom parallel mechanism based on a three-branch structure and a corresponding multi-axis linkage device, which can realize at least five axes and up to six axes linkage control. the

Contents of the invention

The purpose of the present invention is to provide a better principle configuration and solution for the processing of large complex free-form surface parts, and to propose a new movable and portable multi-axis linkage device. The novel multi-axis linkage device proposed by the invention can realize the linkage control of at least five axes and up to six axes. the

A new type of multi-axis linkage device proposed by the present invention includes a moving platform and a fixed platform on which an actuator is installed, and a third branch chain connecting the moving platform and the fixed platform; the third branch chain contains an active drive kinematic pair; it is characterized in that: the device also includes first and second branch chains connecting the moving platform and the fixed platform, the first and second branch chains have the same structure, and both contain two actively driven movements Vice; the first, second and third branch chains are respectively connected with the fixed platform and the moving platform to form a space parallel closed-loop mechanism, and the space parallel closed-loop mechanism drives the movement of the moving platform through five input motions to realize three degrees of freedom of movement and two rotational degrees of freedom; the device may also include an annular guide rail or a workbench for installing workpieces to be processed, the space parallel closed-loop mechanism and the annular guide rail or workbench form a multi-axis linkage hybrid device, the hybrid The device can realize up to six axes of linkage motion. the

Features and technical effects of the present invention

A new type of multi-axis linkage device of the present invention adopts the structural form of three branch chains to form a closed-loop mechanism with five degrees of freedom in space, and drives the movement of the moving platform through five inputs to realize three degrees of freedom of movement and two degrees of freedom of rotation. The structural form of three branch chains realizes the output movement of five degrees of freedom is a remarkable feature of this mechanism that is different from other similar mechanisms. Or rotary table, adopting the hybrid structure to obtain up to six-axis linkage control, which can realize multi-axis linkage CNC machining of complex free-form surface parts. the

Description of drawings

Fig. 1 is a schematic structural diagram of Embodiment 1 of the present invention. the

Fig. 2 is a schematic structural diagram of Embodiment 2 of the present invention. the

Fig. 3 is a schematic structural diagram of Embodiment 3 of the present invention. the

Fig. 4 is a schematic structural diagram of Embodiment 4 of the present invention. the

Fig. 5 is a schematic structural diagram of Embodiment 5 of the present invention. the

Fig. 6 is a schematic structural diagram of Embodiment 6 of the present invention. the

Fig. 7 is a schematic diagram of the third branched chain structure of the present invention. the

Detailed ways

A new multi-axis linkage device of the present invention is described in detail in conjunction with the accompanying drawings and embodiments as follows:

A new type of multi-axis linkage device proposed by the present invention includes a moving platform and a fixed platform on which an actuator is installed, and a third branch chain connecting the moving platform and the fixed platform; the third branch chain contains an active drive kinematic pair; it is characterized in that: the device also includes first and second branch chains connecting the moving platform and the fixed platform, the first and second branch chains have the same structure, and both contain two actively driven movements Vice; the first, second and third branch chains are respectively connected with the fixed platform and the moving platform to form a space parallel closed-loop mechanism, and the space parallel closed-loop mechanism drives the movement of the moving platform through five input motions to realize three degrees of freedom of movement and two rotational degrees of freedom; the device may also include an annular guide rail or a workbench for installing workpieces to be processed, the space parallel closed-loop mechanism and the annular guide rail or workbench form a multi-axis linkage hybrid device, the hybrid The device can realize up to six axes of linkage motion. the

A novel multi-axis linkage device of the present invention is specifically described as follows:

Both the first and the second branch chains include: an upper connecting piece, a lower connecting piece, an upper sliding block, a sliding fast track, an upper connecting rod, a lower connecting rod, a U-shaped piece, a connecting block and a kinematic pair. There are ten kinematic pairs, one is a rotating pair connected between the fixed platform and the lower connecting piece, one is a rotating pair connected between the lower connecting piece and the lower slider, and one is connected between the lower slider and the lower slider. The moving pair between the connecting rods, one is the rotating pair connected between the fixed platform and the upper connecting piece, the other is the rotating pair connected between the upper connecting piece and the upper slider, and the other is connected between the upper sliding block and the upper slider. The moving pair between the connecting rods, one is the rotating pair connected between the upper connecting rod and the lower connecting rod, the other is the rotating pair connected between the upper connecting rod and the U-shaped piece, and the other is connected between the U-shaped piece and the U-shaped piece. The rotating pair between the connecting blocks, and the other is the rotating pair connected between the connecting block and the moving platform. Among them, the moving pair connected between the upper slider and the upper link and the moving pair connected between the lower slider and the lower link are driven; connected between the fixed platform and the upper connecting piece and connected to the upper The two rotating pairs between the connecting piece and the upper slider can be replaced by a Hooke hinge or a spherical hinge; the two rotating pairs connected between the fixed platform and the lower connecting piece and between the lower connecting piece and the lower slider The pair can be replaced by a Hooke hinge or a spherical joint; the three rotating pairs connected between the upper link and the U-shaped piece, between the U-shaped piece and the connecting block, and between the connecting block and the moving platform can be replaced by A spherical hinge instead. the

The third branch chain includes: connectors, sliders, connecting rods and kinematic pairs. There are four kinematic pairs, one is a rotating pair connected between the fixed platform and the connecting piece, one is a rotating pair connected between the connecting piece and the slider, and one is connected between the slider and the connecting rod. Cylindrical pair, the other is a rotating pair connected between the connecting rod and the moving platform. Among them, the telescopic movement between the slider and the connecting rod along the length of the rod is driven; the two rotating pairs connected between the fixed platform and the connecting piece and between the connecting piece and the slider can be formed by a Hooke hinge Or a spherical joint instead; the cylinder pair connected between the slider and the connecting rod can be replaced by a moving pair and a rotating pair, and the moving pair is driven. the

The multi-axis linkage device may include: a turntable and a kinematic pair. There is one kinematic pair, which is a rotary pair connected between the fixed platform and the turntable, and the rotary pair is driven. the

The multi-axis linkage device may also include: a circular guide rail and a kinematic pair. There is one kinematic pair, which is a rotary pair connected between the fixed platform and the circular guide rail, and the rotary pair is driven. the

Example 1:

The structure of a novel multi-axis linkage device of this embodiment is shown in Figure 1, including a fixed platform 18, a moving platform 12 and first, second, and third branch chains, and the three branch chains are respectively connected to the fixed platform 18 Between the moving platform 12 and the fixed platform 18 and the moving platform 12, a space closed-loop mechanism is formed. the

The first and second branch chains all include: an upper connecting piece 17, a lower connecting piece 19, an upper slider 16, a fast slide 110, an upper connecting rod 112, a lower connecting rod 111, a U-shaped piece 113, a connecting block 11 and sports vice. There are ten kinematic pairs, one is a rotating pair connected between the fixed platform 18 and the lower connecting piece 19, one is a rotating pair connected between the lower connecting piece 19 and the lower slider 110, and one is connected to the lower connecting piece 19. The moving pair between the slider 110 and the lower connecting rod 111, one is a rotating pair connected between the fixed platform 18 and the upper connecting piece 17, and the other is a rotating pair connected between the upper connecting piece 17 and the upper sliding block 16. , one is a moving pair connected between the upper slider 16 and the upper link 112, one is a rotating pair connected between the upper link 112 and the lower link 111, and one is connected between the upper link 112 and the U-shaped One of the rotating pairs between the pieces 113 is a rotating pair connected between the U-shaped piece 113 and the connecting block 11, and the other is a rotating pair connected between the connecting block 11 and the moving platform 12. Wherein, the mobile pair that is connected between the upper slider 16 and the upper link 112 and the mobile pair that is connected between the lower slider 110 and the lower link 111 are driven; Between and connected between the upper connecting piece 17 and the upper slider 16, the two revolving pairs can be replaced by a Hooke hinge or a ball joint; connected between the fixed platform 18 and the lower connecting piece 19 and connected to the lower connecting piece 19 and the two revolving pairs between the lower slider 110 can be replaced by a Hooke hinge or a spherical hinge; connected between the upper link 112 and the U-shaped piece 113, connected between the U-shaped piece 113 and the connecting block 11 And the three revolving pairs that are connected between the connection block 11 and the moving platform 12 can be replaced by a ball joint. the

The third branch chain includes: a connecting piece 15, a slider 14, a connecting rod 13 and a kinematic pair. There are four kinematic pairs, one is a rotary pair connected between the fixed platform 18 and the connector 15, one is a rotary pair connected between the connector 15 and the slider 14, and one is connected to the slider 14 and the slider 14. The cylinder pair between the connecting rod 13, and the other is a rotary pair connected between the connecting rod 13 and the moving platform 12. Among them, the telescopic movement between the slider 14 and the connecting rod 13 along the length direction of the rod is driven; The pair can be replaced by a Hooke joint or a spherical joint; the cylindrical pair connected between the slider 14 and the connecting rod 13 can be replaced by a moving pair and a rotating pair, and the moving pair is driven. the

The multi-axis linkage device can realize five-axis linkage control of three degrees of freedom of movement and two degrees of freedom of rotation. the

Example 2:

The structure of a novel multi-axis linkage device in this embodiment is shown in FIG. 2 . The difference between the multi-axis linkage device and Embodiment 1 is that the multi-axis linkage device also includes a turntable 21 and a kinematic pair. There is one kinematic pair, which is a rotary pair connected between the fixed platform 22 and the turntable 21, and the rotary pair is driven. The device can realize six-axis linkage control of three moving degrees of freedom and three rotating degrees of freedom. the

Example 3:

The structure of a new type of multi-axis linkage device in this embodiment is shown in FIG. 3 . The difference between the multi-axis linkage device and Embodiment 1 is that the multi-axis linkage device also includes a circular guide rail 31 and a kinematic pair. There is one kinematic pair, which is a rotary pair connected between the fixed platform 32 and the annular guide rail 31, and the rotary pair is driven. The device can realize six-axis linkage control of three moving degrees of freedom and three rotating degrees of freedom. the

Example 4:

The structure of a new type of multi-axis linkage device in this embodiment is shown in Figure 4. The difference between this multi-axis linkage device and Embodiment 1 is that the first and second branch chains are connected to the moving platform 41 and the connecting block 42 The axes of rotation are in different directions. The novel multi-axis linkage device can realize five-axis linkage control with three degrees of freedom of movement and two degrees of freedom of rotation. the

Embodiment 5:

The structure of a new type of multi-axis linkage device in this embodiment is shown in FIG. 5 . The difference between the multi-axis linkage device and Embodiment 4 is that the multi-axis linkage device also includes a turntable 51 and a kinematic pair. There is one kinematic pair, which is a rotary pair connected between the fixed platform 52 and the turntable 51, and the rotary pair is driven. The device can realize six-axis linkage control of three moving degrees of freedom and three rotating degrees of freedom. the

Embodiment 6:

The structure of a new multi-axis linkage device in this embodiment is shown in FIG. 6 . The difference between the multi-axis linkage device and Embodiment 4 is that the multi-axis linkage device also includes a ring guide rail 61 and a kinematic pair. There is one kinematic pair, which is a rotary pair connected between the fixed platform 62 and the annular guide rail 61, and the rotary pair is driven. The device can realize six-axis linkage control of three moving degrees of freedom and three rotating degrees of freedom. the

The structure of the third branch chain described in the above embodiments can also be realized by the kinematic branch chain shown in FIG. 7 , which includes a connecting piece 74 , a slider 73 , a connecting rod 72 , a U-shaped piece 71 and a kinematic pair. There are three kinematic pairs, one is a rotating pair connected between the connecting piece 74 and the slide block 73, one is a moving pair connected between the slide block 73 and the connecting rod 72, and the other is connected between the connecting rod 72 and the connecting rod 72. The rotary pair between the U-shaped parts 71. Wherein, the moving pair connected between the slider 73 and the connecting rod 72 is driven. the

Claims (5)

1. a Novel multi-shaft linkage series-parallel device, comprises moving platform and a fixed platform that actuator is installed, and connects the 3rd side chain between described moving platform and fixed platform; The kinematic pair that the 3rd side chain contains an active drive; It is characterized in that: this device also comprises first, second side chain connecting between described moving platform and fixed platform, and this first, second branched structure is identical, all contains the kinematic pair of two active drive; Described first, second, and third side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives moving platform motion by five input motions, realizes three one-movement-freedom-degrees and two rotational freedoms.

2. a kind of Novel multi-shaft linkage as claimed in claim 1, is characterized in that, described first, second side chain includes: upper connector, lower connector, top shoe, fast, the upper connecting rod of downslide, lower link, U-shaped, contiguous block and kinematic pair.Described kinematic pair has ten, one is the revolute pair being connected between fixed platform and lower connector, one is the revolute pair being connected between lower connector and sliding block, one is the moving sets being connected between sliding block and lower link, one is the revolute pair being connected between fixed platform and upper connector, one is the revolute pair being connected between upper connector and top shoe, one is the moving sets being connected between top shoe and upper connecting rod, one is the revolute pair being connected between connecting rod and lower link, one is the revolute pair between being connected in connecting rod and U-shaped, one is the revolute pair between being connected in U-shaped and contiguous block, another is the revolute pair being connected between contiguous block and moving platform.Wherein, be connected in the moving sets between top shoe and upper connecting rod and be connected in sliding block and lower link between moving sets be driven; Two revolute pairs that are connected between fixed platform and upper connector and be connected between upper connector and top shoe can be replaced by a Hooke's hinge or a ball pivot; Two revolute pairs that are connected between fixed platform and lower connector and be connected between lower connector and sliding block can be replaced by a Hooke's hinge or a ball pivot; Be connected between connecting rod and U-shaped, be connected between U-shaped and contiguous block and three revolute pairs that are connected between contiguous block and moving platform can be replaced by a ball pivot.

3. a kind of Novel multi-shaft linkage as claimed in claim 1, is characterized in that, described the 3rd side chain comprises: connector, slide block, connecting rod and kinematic pair.Described kinematic pair has four, one is the revolute pair being connected between fixed platform and connector, one is the revolute pair being connected between connector and slide block, and one is the cylindrical pair being connected between slide block and connecting rod, and another is the revolute pair being connected between connecting rod and moving platform.Wherein, between slide block and connecting rod, along the stretching motion of bar length direction, be driven; Two revolute pairs that are connected between fixed platform and connector and be connected between connector and slide block can be replaced by a Hooke's hinge or a ball pivot; The cylindrical pair being connected between slide block and connecting rod can be replaced by a moving sets and a revolute pair, and this moving sets is driven.

4. a kind of Novel multi-shaft linkage as claimed in claim 1, is characterized in that, this multi-shaft interlocked device also can comprise: turntable and kinematic pair.Described kinematic pair has one, and for being connected in the revolute pair between fixed platform and turntable, and this revolute pair is driven.This device can be realized the six-axis control of three one-movement-freedom-degrees and three rotational freedoms.

5. a kind of Novel multi-shaft linkage as claimed in claim 1, is characterized in that, this multi-shaft interlocked device also can comprise: ring-shaped guide rail and kinematic pair.Described kinematic pair has one, and for being connected in the revolute pair between fixed platform and ring-shaped guide rail, and this revolute pair is driven.This device can be realized the six-axis control of three one-movement-freedom-degrees and three rotational freedoms.

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