CN104551714B - Parallel mechanism with spatial two rotation and one translation freedom degrees - Google Patents
Parallel mechanism with spatial two rotation and one translation freedom degrees Download PDFInfo
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Abstract
本发明涉及一种具有空间两转动和一平动自由度的并联机构，其特征在于，它包括一动平台、三个均匀布置在所述动平台周围且呈轴对称分布的固定架和三个连接所述固定架与所述动平台的支链；每一支链包括：一紧固连接在所述固定架内侧且与所述动平台垂直的直线导轨，一可滑动地设置在所述直线导轨上的滑块，一紧固连接在所述固定架上的用于驱动滑块移动的驱动装置，以及一连接杆；其中，所述连接杆的一端通过一具有两个转动自由度的第一铰链与所述滑块连接，另一端通过一具有两个转动自由度的第二铰链与所述动平台连接。本发明可广泛应用于五轴联动混联数控机床中。
The invention relates to a parallel mechanism with two rotational and one translational degrees of freedom in space, which is characterized in that it includes a moving platform, three fixed frames evenly arranged around the moving platform and distributed axially symmetrically, and three connecting stations The fixed frame and the branch chain of the moving platform; each branch chain includes: a linear guide rail fastened to the inner side of the fixed frame and perpendicular to the moving platform, and a linear guide rail slidably arranged on the linear guide rail The slider, a driving device fastened to the fixed frame for driving the slider to move, and a connecting rod; wherein, one end of the connecting rod passes through a first hinge with two rotational degrees of freedom It is connected with the slider, and the other end is connected with the moving platform through a second hinge with two rotational degrees of freedom. The invention can be widely used in five-axis linkage mixed numerical control machine tools.
Description
技术领域technical field
本发明涉及一种应用于混联数控机床的具有空间两转动和一平动自由度的并联机构，属于机械制造领域。The invention relates to a parallel mechanism with two degrees of freedom in space, two rotations and one translation, which is applied to a hybrid numerical control machine tool, and belongs to the field of mechanical manufacturing.
背景技术Background technique
并联机构具有结构紧凑、模块化性能好、刚度质量比大，以及易于实现高速运动的优点，但是并联机构工作空间有限，并且通常需要采用加工精度较难保证的球铰作为其必要的运动副，这在一定程度上制约了其在机械制造领域的发展。近年来，一些基于少自由度并联机构的混联制造装备在工业中得到了成功应用，如基于Tricept机构的五轴混联加工中心，和基于Sprint Z3主轴头的Ecospeed五轴混联加工中心等。混联机构兼具串联机构工作空间大以及并联机构结构紧凑、动态响应特性好等优点，能够实现大工作空间的五轴联动高速切铣加工，适合应用于空间自由曲面类零部件的加工。The parallel mechanism has the advantages of compact structure, good modular performance, high stiffness-to-mass ratio, and easy realization of high-speed motion, but the working space of the parallel mechanism is limited, and it is usually necessary to use a spherical joint whose machining accuracy is difficult to guarantee as its necessary kinematic pair. This restricts its development in the field of mechanical manufacturing to a certain extent. In recent years, some hybrid manufacturing equipment based on parallel mechanisms with few degrees of freedom have been successfully applied in industry, such as the five-axis hybrid machining center based on the Tricept mechanism, and the Ecospeed five-axis hybrid machining center based on the Sprint Z3 spindle head, etc. . The hybrid mechanism has the advantages of a large working space of the serial mechanism and a compact structure of the parallel mechanism and good dynamic response characteristics. It can realize five-axis high-speed cutting and milling processing in a large working space, and is suitable for the processing of space free-form surface parts.
美国专利US6431802公开了一种目前常见的空间两转动一平动并联机构，其为3PRS构型，应用于混联机床领域。该并联机构具体包括静平台、动平台及三条结构相同且呈轴对称分布的支链，每一支链依次包括一个移动副、一个转动副和一个球铰；其中，移动副为驱动单元，通过导轨与静平台配合；转动副和球铰为被动单元，球铰连接相应的连接杆和动平台。US Patent US6431802 discloses a common two-rotation-translational parallel mechanism in space at present, which is a 3PRS configuration and is applied in the field of hybrid machine tools. The parallel mechanism specifically includes a static platform, a moving platform, and three branch chains with the same structure and distributed axisymmetrically. The guide rail cooperates with the static platform; the rotating pair and the ball joint are passive units, and the ball joint connects the corresponding connecting rod and the moving platform.
上述机构采用了转动角度有限且精度较难保证的球铰作为运动副，这既限制了其末端动平台的转角范围，又有可能对机构精度产生不确定的影响。The above-mentioned mechanism uses a spherical joint with limited rotation angle and difficult to guarantee accuracy as the kinematic pair, which not only limits the range of rotation angle of the end moving platform, but also may have an uncertain impact on the accuracy of the mechanism.
发明内容Contents of the invention
针对上述问题，本发明的目的是提供一种能够有效增加动平台摆角范围且保证动平台运动精度的空间并联系统。In view of the above problems, the purpose of the present invention is to provide a space parallel system that can effectively increase the swing angle range of the moving platform and ensure the movement accuracy of the moving platform.
为实现上述目的，本发明采用以下技术方案：一种具有空间两转动和一平动自由度的并联机构，其特征在于，它包括一动平台、三个均匀布置在所述动平台周围且呈轴对称分布的固定架和三个连接所述固定架与所述动平台的支链；每一支链包括：一紧固连接在所述固定架内侧且与所述动平台垂直的直线导轨，一可滑动地设置在所述直线导轨上的滑块，一紧固连接在所述固定架上的用于驱动滑块移动的驱动装置，以及一连接杆；其中，所述连接杆的一端通过一具有两个转动自由度的第一铰链与所述滑块连接，另一端通过一具有两个转动自由度的第二铰链与所述动平台连接。In order to achieve the above object, the present invention adopts the following technical solutions: a parallel mechanism with two degrees of freedom of rotation and one translation in space, characterized in that it includes a moving platform, three evenly arranged around the moving platform and are axisymmetric distributed fixed frame and three branch chains connecting the fixed frame and the moving platform; each branch chain includes: a linear guide rail fastened inside the fixed frame and perpendicular to the moving platform; A slide block slidably arranged on the linear guide rail, a driving device fastened to the fixed frame for driving the slide block to move, and a connecting rod; wherein, one end of the connecting rod passes through a The first hinge with two rotational degrees of freedom is connected with the slider, and the other end is connected with the moving platform through a second hinge with two rotational degrees of freedom.
所述第一铰链靠近所述滑块一端的转动轴线与所述直线导轨的长度方向平行，所述第一铰链靠近所述连接杆一端的转动轴线与所述铰链靠近所述滑块一端的所述转动轴线垂直且与所述连接杆的长度方向垂直。The rotation axis of the end of the first hinge close to the slider is parallel to the length direction of the linear guide rail, and the rotation axis of the end of the first hinge close to the connecting rod is parallel to the rotation axis of the end of the hinge close to the slider. The rotation axis is vertical and perpendicular to the length direction of the connecting rod.
所述第二铰链靠近所述连接杆一端的转动轴线与所述第一铰链靠近所述连接杆一端的转动轴线平行，所述第二铰链靠近所述动平台一端的转动轴线与所述第二铰链靠近所述连接杆一端的转动轴线垂直。The rotation axis of the second hinge near the end of the connecting rod is parallel to the rotation axis of the first hinge near the end of the connecting rod, and the rotation axis of the second hinge near the end of the moving platform is parallel to the second hinge. The axis of rotation of the hinge near one end of the connecting rod is vertical.
所述第一铰链为一个虎克铰或者由两个转动副组合而成。The first hinge is a Hooke hinge or a combination of two revolving pairs.
所述第二铰链为一个虎克铰或者由两个转动副组合而成。The second hinge is a Hooke hinge or a combination of two revolving pairs.
所述驱动装置包括一紧固连接在所述固定架上的伺服电机，所述伺服电机的输出端通过一滚珠丝杠副连接所述滑块。The driving device includes a servo motor fastened to the fixed frame, and the output end of the servo motor is connected to the slider through a ball screw pair.
所述驱动装置包括一紧固连接在所述固定架上的通长的直线电机初级，在所述直线电机初级上设置一直线电机次级，所述直线电机次级与所述滑块紧固连接。The driving device includes a long linear motor primary fastened on the fixed frame, a linear motor secondary is arranged on the linear motor primary, and the linear motor secondary is fastened to the slider connect.
本发明由于采取以上技术方案，其具有以下优点：1、本发明在动平台的周围均匀布置三个固定架，每一固定架与动平台之间通过一支链连接，每一支链包括一紧固连接在固定架上的直线导轨、可滑动地设置在直线导轨上的滑块和用于驱动滑块的驱动装置，并且驱动转轴紧固连接在固定架上，因此能够保证本发明所述的并联机构具有高动态特性和受力平衡特性。2、本发明的每一支链还包括一连接杆，连接杆的一端通过一具有两个转动自由度的第一铰链与滑块连接，另一端通过一具有两个转动自由度的第二铰链与动平台连接，因此本发明所述的并联机构所包含的全部运动链都未采用球铰，进而保证了动平台能够获得较高的转角范围和较好的输出精度。本发明可广泛应用于五轴联动混联数控机床中，在本发明机床上所开发的五轴联动混联数控机床具有能够对复杂自由曲面类零件的高效、高精度加工能力。Because the present invention adopts the above technical scheme, it has the following advantages: 1. The present invention arranges three fixed frames evenly around the moving platform, and each fixed frame is connected with the moving platform by a chain, and each branch chain includes a The linear guide rail that is fastened on the fixed frame, the slide block that is slidably arranged on the linear guide rail and the driving device for driving the slide block, and the drive shaft is fastened to the fixed frame, so it can ensure the The parallel mechanism has high dynamic characteristics and force balance characteristics. 2. Each branch chain of the present invention also includes a connecting rod, one end of the connecting rod is connected to the slider through a first hinge with two rotational degrees of freedom, and the other end is connected with a second hinge with two rotational degrees of freedom It is connected with the moving platform, so all the kinematic chains included in the parallel mechanism described in the present invention do not use spherical joints, thereby ensuring that the moving platform can obtain a higher rotation angle range and better output accuracy. The present invention can be widely applied to five-axis linkage mixed numerical control machine tool, and the five-axis linkage mixed numerical control machine tool developed on the machine tool of the present invention has high-efficiency and high-precision processing ability for complex free-form surface parts.
附图说明Description of drawings
图1是本发明的整体结构示意图；Fig. 1 is the overall structure schematic diagram of the present invention;
图2是本发明支链的结构示意图。Fig. 2 is a schematic diagram of the structure of the branched chain of the present invention.
具体实施方式detailed description
下面结合附图和实施例对本发明进行详细的描述。The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
如图1所示，本发明包括一个动平台1、三个均匀布置在动平台1周围且呈轴对称分布的固定架2和三个连接动平台1与固定架2的支链3。As shown in FIG. 1 , the present invention includes a moving platform 1 , three fixed frames 2 evenly arranged around the moving platform 1 and distributed axially symmetrically, and three branch chains 3 connecting the moving platform 1 and the fixed frames 2 .
如图1、图2所示，每一支链3均包括一紧固连接在固定架2内侧的直线导轨4，直线导轨4沿与动平台1垂直的方向布置，在直线导轨4上可滑动地设置一滑块5，在固定架2上还紧固连接一用于驱动滑块5在直线导轨4上进行移动的驱动装置。每一支链3还包括一连接杆6，连接杆6的一端通过一具有两个转动自由度的第一铰链7与滑块5连接，另一端通过一具有两个转动自由度的第二铰链8与动平台1连接。As shown in Figures 1 and 2, each branch chain 3 includes a linear guide rail 4 fastened to the inner side of the fixed frame 2, the linear guide rail 4 is arranged in a direction perpendicular to the moving platform 1, and can slide on the linear guide rail 4 A slide block 5 is arranged on the ground, and a driving device for driving the slide block 5 to move on the linear guide rail 4 is also fastened to the fixed frame 2 . Each branch chain 3 also includes a connecting rod 6, one end of the connecting rod 6 is connected with the slider 5 through a first hinge 7 with two rotational degrees of freedom, and the other end is connected with the slider 5 through a second hinge with two rotational degrees of freedom 8 is connected with moving platform 1.
本发明的三个相同的支链3与动平台1、固定架2连接形成一空间闭环机构，通过三个滑块5的输入运动驱动动平台1运动，实现动平台1的两个转动自由度和一个平动自由度。Three identical branch chains 3 of the present invention are connected with the moving platform 1 and the fixed frame 2 to form a space closed-loop mechanism, and the movement of the moving platform 1 is driven by the input motion of the three sliders 5 to realize two degrees of freedom of rotation of the moving platform 1 and one translational degree of freedom.
上述实施例中，如图2所示，第一铰链7靠近滑块5一端的转动轴线CC’与直线导轨4沿长度方向的对称轴轴线EE’平行，第一铰链7靠近连接杆6一端的转动轴线AA’与第一铰链7靠近滑块5一端的转动轴线CC’垂直，且与连接杆6沿长度方向的对称轴轴线垂直；第二铰链8靠近连接杆6一端的转动轴线BB’与第一铰链7靠近连接杆6一端的转动轴线AA’平行，第二铰链8靠近动平台1一端的转动轴线DD’与第二铰链8靠近连接杆6一端的转动轴线BB’垂直。第一铰链7所具有的两个转动自由度可以由两个转动副组合而成，也可以是一个虎克铰，但是两个转动自由度的转动轴线AA’和CC’的方向需满足前述的约束关系；第二铰链8所具有的两个转动自由度可以由两个转动副组合而成，也可以是一个虎克铰，但是两个转动自由度的转动轴线BB’和DD’的方向需满足前述的约束关系。In the above embodiment, as shown in FIG. 2 , the rotation axis CC' of the end of the first hinge 7 close to the slider 5 is parallel to the axis of symmetry axis EE' of the linear guide 4 along the length direction, and the end of the first hinge 7 close to the connecting rod 6 The rotation axis AA' is perpendicular to the rotation axis CC' of the first hinge 7 near the end of the slider 5, and is perpendicular to the axis of symmetry of the connecting rod 6 along the length direction; the rotation axis BB' of the second hinge 8 near the end of the connecting rod 6 is perpendicular to The rotation axis AA' of the first hinge 7 near the end of the connecting rod 6 is parallel, the rotation axis DD' of the second hinge 8 near the moving platform 1 is perpendicular to the rotation axis BB' of the second hinge 8 near the end of the connecting rod 6 . The two rotational degrees of freedom of the first hinge 7 can be combined by two rotational pairs, or can be a Hooke hinge, but the directions of the rotational axes AA' and CC' of the two rotational degrees of freedom need to meet the aforementioned Constraint relationship; the two rotational degrees of freedom of the second hinge 8 can be formed by combining two rotational pairs, or a Hooke hinge, but the directions of the rotational axes BB' and DD' of the two rotational degrees of freedom need to be Satisfy the aforementioned constraints.
上述实施例中，驱动装置可以包括一紧固连接在固定架2上的伺服电机9，伺服电机9的输出端通过一滚珠丝杠副10连接滑块5。作为驱动装置的一种变形结构，其也可以包括一紧固连接在固定架2上的通长的直线电机初级，在直线电机初级上设置一直线电机次级，直线电机次级与滑块5紧固连接。当然，在具体实施过程中，采用其它任意一种可实现相同运动功能的形式都是可以的。In the above embodiment, the driving device may include a servo motor 9 fastened to the fixed frame 2 , and the output end of the servo motor 9 is connected to the slider 5 through a ball screw pair 10 . As a modified structure of the driving device, it can also include a long linear motor primary fastened to the fixed frame 2, a linear motor secondary is arranged on the linear motor primary, and the linear motor secondary is connected to the slide block 5 Fasten the connection. Certainly, in the specific implementation process, any other form that can realize the same motion function is all possible.
本发明利用每条支链3中连接杆6与动平台1之间的两个转动自由度、连接杆6与滑块5之间的两个转动自由度，以及滑块5与固定架2之间的一个平动自由度，使动平台1能够实现相对于固定架2的空间两转动一平动运动。其中，两个转动自由度为绕图1中的x轴和y轴旋转，一个平动自由度为沿图1中z轴方向平移。同时，本发明可以采用模块化设计，可通过固定架2上的机械接口与两个正交串联移动平台配合使用，进而构成五轴联动的混联数控加工单元，其中，图1中的零件11为机床主轴，可安装刀具完成待加工件的切铣任务。The present invention utilizes the two rotational degrees of freedom between the connecting rod 6 and the moving platform 1 in each branch chain 3, the two rotational degrees of freedom between the connecting rod 6 and the slider 5, and the relationship between the slider 5 and the fixed frame 2. One translation degree of freedom between them enables the moving platform 1 to realize two rotations and one translation movement relative to the space of the fixed frame 2 . Among them, two rotational degrees of freedom are rotations around the x-axis and y-axis in FIG. 1 , and one translational degree of freedom is translation along the z-axis in FIG. 1 . At the same time, the present invention can adopt a modular design, and can be used in conjunction with two orthogonal series mobile platforms through the mechanical interface on the fixed frame 2, thereby forming a five-axis linkage hybrid numerical control processing unit, wherein the part 11 in Fig. 1 It is the spindle of the machine tool, which can be installed with tools to complete the cutting and milling tasks of the workpiece to be processed.
本发明仅以上述实施例进行说明，各部件的结构、设置位置及其连接都是可以有所变化的，在本发明技术方案的基础上，凡根据本发明原理对个别部件进行的改进和等同变换，均不应排除在本发明的保护范围之外。The present invention is only described with the above-mentioned embodiment, and the structure, setting position and connection of each component can be changed. On the basis of the technical solution of the present invention, all improvements and equivalents to individual components according to the principles of the present invention Any transformation shall not be excluded from the protection scope of the present invention.
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