CN203527455U - Five-branch-chain five-freedom-degree parallel machine tool mechanism - Google Patents
Five-branch-chain five-freedom-degree parallel machine tool mechanism Download PDFInfo
- Publication number
- CN203527455U CN203527455U CN201320546600.9U CN201320546600U CN203527455U CN 203527455 U CN203527455 U CN 203527455U CN 201320546600 U CN201320546600 U CN 201320546600U CN 203527455 U CN203527455 U CN 203527455U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- sliding block
- active
- end connects
- branched chain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a five-branch-chain five-freedom-degree parallel machine tool mechanism which comprises a rack, a first driving branch chain, a second driving branch chain, a third driving branch chain, a fourth driving branch chain, a fifth driving restraining branch chain and a movable platform. The first driving branch chain, the second driving branch chain, the third driving branch chain, the fourth driving branch chain and the fifth driving restraining branch chain jointly drive the movable platform to perform the space five-freedom-degree motion. According to the five-branch-chain five-freedom-degree parallel machine tool mechanism, the five motion branch chains are adopted for achieving the space five-freedom-degree motion of a machine tool, the structure is simple, the motion components are light in weight, the rigidity of the mechanism is good, the inertia is small, and the dynamic performance is good.
Description
Technical field
The utility model relates to machine tool field, particularly a kind of five side chain five-freedom parallel machine tool mechanisms.
Background technology
Compare with serial mechanism, parallel institution has the advantages such as precision is high, compact conformation, rigidity is high, bearing capacity is strong.Therefore,, since the nineties in last century, lot of domestic and foreign scholar has carried out the research and development of parallel machine.Wherein mostly concentrate on 3DOF and 6DOF, and the machine components of processed complex only need 5 frees degree just enough.So six-degree-of-freedom parallel connection mechanism is applied on lathe will have a unnecessary free degree, this is obviously a kind of unnecessary waste; And the parallel institution of Three Degree Of Freedom has been that complicated task just must be by the motion of other two frees degree, this will have a greatly reduced quality the advantage of parallel institution.Therefore, to be applied to lathe be very significant to the parallel institution of research five degree of freedom.The five-freedom parallel machine tool of now researching and developing is all realized by five additional constrained branched chains of active branched chain, and the motion that such words lathe is realized five degree of freedom needs six side chains to complete, as patent ZL02104943.2.The utility model adopts novel 4-PUS/PUU parallel institution to realize the five degree of freedom motion of lathe, and this configuration only needs four actives without the additional active constrained branched chain of constrained branched chain.Therefore, adopt the parallel machine of this configuration can save a side chain, make the structure of lathe simpler, moving link quality alleviates more than 17%, and its kinematics and dynamics performance is more superior.
Summary of the invention
The purpose of this utility model is to provide a kind of five side chain five-freedom parallel machine tool mechanisms, can simplify the structure of existing five-freedom parallel machine tool, alleviates moving link quality more than 17%, makes its kinematics and dynamics performance more superior.
The utility model achieves the above object by the following technical programs: a kind of five side chain five-freedom parallel machine tool mechanisms, comprise frame, the first active branched chain, the second active branched chain, the 3rd active branched chain, the 4th active branched chain, the 5th initiatively constrained branched chain and moving platform.
Described the first active branched chain is comprised of the first active sliding block and first connecting rod, first active sliding block one end connects with frame by the first moving sets, the first active sliding block other end connects with first connecting rod by the first Hooke's hinge, and the first connecting rod other end connects with moving platform by the first ball pivot.
Described the second active branched chain is comprised of the second active sliding block and second connecting rod, second active sliding block one end connects with frame by the second moving sets, the second active sliding block other end connects with second connecting rod by the second Hooke's hinge, and the second connecting rod other end connects with moving platform by the second ball pivot.
Described the 3rd active branched chain is comprised of the 3rd active sliding block and third connecting rod, the 3rd active sliding block one end connects with frame by three moving sets, the 3rd active sliding block other end connects with third connecting rod by the 3rd Hooke's hinge, and the third connecting rod other end connects with moving platform by the 3rd ball pivot.
Described the 4th active branched chain is comprised of the 4th active sliding block and the 4th connecting rod, the 4th active sliding block one end connects with frame by the 4th moving sets, the 4th active sliding block other end connects with the 4th connecting rod by the 4th Hooke's hinge, and the 4th connecting rod other end connects with moving platform by the 4th ball pivot.
Described the 5th active constrained branched chain is comprised of the 5th active sliding block and the 5th connecting rod, the 5th active sliding block one end connects with frame by the 5th moving sets, the 5th active sliding block other end connects with the 5th connecting rod by the 5th Hooke's hinge, and the 5th connecting rod other end connects with moving platform by the 6th Hooke's hinge.
Outstanding advantages of the present utility model is:
1, adopt parallel-connection structure, rod member is made lighter bar, and mechanism is lightweight, good rigidly;
2, side chain quantity is few, and machine tool motion member is few, inertia is little, kinematics and dynamics performance is good;
3, different end effectors is installed on moving platform, this mechanism may be used on assembling, welding, attitude adjustment and positioning equipment, laser, the field such as medical.
Accompanying drawing explanation
Fig. 1 is the first structural representation of a kind of five side chain five-freedom parallel machine tool mechanisms described in the utility model.
Fig. 2 is the second structural representation of a kind of five side chain five-freedom parallel machine tool mechanisms described in the utility model.
Fig. 3 is the 3rd structural representation of a kind of five side chain five-freedom parallel machine tool mechanisms described in the utility model.
The specific embodiment
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Contrast Fig. 1, a kind of five side chain five-freedom parallel machine tool mechanisms, comprise frame 1, the first active branched chain, the second active branched chain, the 3rd active branched chain, the 4th active branched chain, the 5th initiatively constrained branched chain and moving platform 27.
Described the first active branched chain is comprised of the first active sliding block 2 and first connecting rod 17, the first active sliding block 2 is by 1 slip in frame of the first moving sets 7, first active sliding block 2 other ends drive first connecting rod 17 motions by the first Hooke's hinge 12, and first connecting rod 17 other ends drive moving platform 27 motions by the first ball pivot 22.
Described the second active branched chain is comprised of the second active sliding block 3 and second connecting rod 18, the second active sliding block 3 is slided in frame 1 by the second moving sets 8, second active sliding block 3 other ends drive second connecting rod 18 motions by the second Hooke's hinge 13, and second connecting rod 18 other ends drive moving platform 27 motions by the second ball pivot 23.
Described the 3rd active branched chain is comprised of the 3rd active sliding block 4 and second connecting rod 19, the 3rd active sliding block 4 is slided in frame 1 by three moving sets 9, the 3rd active sliding block 4 other ends drive third connecting rod 19 motions by the 3rd Hooke's hinge 14, and third connecting rod 19 other ends drive moving platform 27 motions by the 3rd ball pivot 24.
Described the 4th active branched chain is comprised of the 4th active sliding block 5 and the 4th connecting rod 20, the 4th active sliding block 5 is slided in frame 1 by the 4th moving sets 10, the 4th active sliding block 5 other ends drive the 4th connecting rod 20 motions by the 4th Hooke's hinge 15, and the 4th connecting rod 20 other ends drive moving platform 27 motions by the 4th ball pivot 25.
Described the 5th active constrained branched chain is comprised of the 5th active sliding block 6 and the 5th connecting rod 21, the 5th active sliding block 6 is slided in frame 1 by the 5th moving sets 11, the 5th active sliding block 6 other ends drive the 5th connecting rod 21 motions by the 5th Hooke's hinge 16, and the 5th connecting rod 21 other ends drive moving platform 27 motions by the 6th Hooke's hinge 26.
The routing motion of described the first active sliding block 2, the first active sliding block 3, the first active sliding block 4, the first active sliding block 5, the first active sliding block 6 can pass through first connecting rod 17, second connecting rod 18, third connecting rod 19, the 4th connecting rod 20, the 5th connecting rod 21, drive the motion of moving platform 27 implementation space five degree of freedom.
Claims (1)
1. five side chain five-freedom parallel machine tool mechanisms, comprise frame, the first active branched chain, the second active branched chain, the 3rd active branched chain, the 4th active branched chain, the 5th initiatively constrained branched chain and moving platform, it is characterized in that:
Described the first active branched chain is comprised of the first active sliding block and first connecting rod, first active sliding block one end connects with frame by the first moving sets, the first active sliding block other end connects with first connecting rod by the first Hooke's hinge, and the first connecting rod other end connects with moving platform by the first ball pivot
Described the second active branched chain is comprised of the second active sliding block and second connecting rod, second active sliding block one end connects with frame by the second moving sets, the second active sliding block other end connects with second connecting rod by the second Hooke's hinge, and the second connecting rod other end connects with moving platform by the second ball pivot
Described the 3rd active branched chain is comprised of the 3rd active sliding block and third connecting rod, the 3rd active sliding block one end connects with frame by three moving sets, the 3rd active sliding block other end connects with third connecting rod by the 3rd Hooke's hinge, and the third connecting rod other end connects with moving platform by the 3rd ball pivot
Described the 4th active branched chain is comprised of the 4th active sliding block and the 4th connecting rod, the 4th active sliding block one end connects with frame by the 4th moving sets, the 4th active sliding block other end connects with the 4th connecting rod by the 4th Hooke's hinge, and the 4th connecting rod other end connects with moving platform by the 4th ball pivot
Described the 5th active constrained branched chain is comprised of the 5th active sliding block and the 5th connecting rod, the 5th active sliding block one end connects with frame by the 5th moving sets, the 5th active sliding block other end connects with the 5th connecting rod by the 5th Hooke's hinge, and the 5th connecting rod other end connects with moving platform by the 6th Hooke's hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320546600.9U CN203527455U (en) | 2013-09-04 | 2013-09-04 | Five-branch-chain five-freedom-degree parallel machine tool mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320546600.9U CN203527455U (en) | 2013-09-04 | 2013-09-04 | Five-branch-chain five-freedom-degree parallel machine tool mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203527455U true CN203527455U (en) | 2014-04-09 |
Family
ID=50413715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320546600.9U Expired - Fee Related CN203527455U (en) | 2013-09-04 | 2013-09-04 | Five-branch-chain five-freedom-degree parallel machine tool mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203527455U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465252A (en) * | 2013-09-04 | 2013-12-25 | 江西省机械科学研究所 | Five-branched-chain five-degree-of-freedom parallel machine tool mechanism |
| CN108723801A (en) * | 2018-06-30 | 2018-11-02 | 郑州大学 | Five-freedom parallel machine tool with quadrilateral space structure |
| CN110962115A (en) * | 2019-12-05 | 2020-04-07 | 浙江理工大学 | A five-degree-of-freedom parallel robot for ship bulkhead grinding |
-
2013
- 2013-09-04 CN CN201320546600.9U patent/CN203527455U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465252A (en) * | 2013-09-04 | 2013-12-25 | 江西省机械科学研究所 | Five-branched-chain five-degree-of-freedom parallel machine tool mechanism |
| CN108723801A (en) * | 2018-06-30 | 2018-11-02 | 郑州大学 | Five-freedom parallel machine tool with quadrilateral space structure |
| CN110962115A (en) * | 2019-12-05 | 2020-04-07 | 浙江理工大学 | A five-degree-of-freedom parallel robot for ship bulkhead grinding |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103465252A (en) | Five-branched-chain five-degree-of-freedom parallel machine tool mechanism | |
| CN104626099B (en) | Six degree of freedom hybrid mechanism is moved in three full decoupled rotations three | |
| CN100593459C (en) | A parallel mechanism that can realize the conversion between three-dimensional translation and three-dimensional rotation | |
| CN108972509B (en) | Three-degree-of-freedom parallel mechanism with multiple operation modes | |
| CN102626870B (en) | Three-DOF (Degree of Freedom) parallel spindle head with single-DOF hinge | |
| CN203045724U (en) | Two-degree-freedom space parallel mechanism | |
| CN105291094A (en) | Translation and rotating decoupling six-degree-of-freedom heavy load robot mechanism | |
| CN203527455U (en) | Five-branch-chain five-freedom-degree parallel machine tool mechanism | |
| CN102699908B (en) | Two-freedom-degree mobile decoupling parallel robot mechanism | |
| CN102909569B (en) | 1T2R three-degree of freedom spatial parallel mechanism | |
| CN105291096A (en) | Heavy-load horizontal-movement transfer robot mechanism with three degrees of freedom | |
| CN105904441A (en) | Two-movement two-rotation four-degree-of-freedom full-symmetrical parallel mechanism | |
| CN104249368A (en) | Double-column self-reconfigurable modular robot | |
| CN104493811A (en) | Three-support space mechanism with two same supports | |
| CN102398264A (en) | A four-degree-of-freedom parallel robot mechanism with two-dimensional translation and two-dimensional rotation | |
| CN107139166A (en) | Broad sense decoupling parallel mechanism with three turn of one shifting property | |
| CN102350698A (en) | Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain | |
| CN102848376A (en) | Translation parallel mechanism with two degrees of freedom and hooke joints as passive joints | |
| CN104858857A (en) | 2PR and PRS spatial parallel robot mechanism | |
| CN102689304A (en) | Three-freedom-degree mobile parallel robot mechanism | |
| CN104440881A (en) | Double-platform mechanism | |
| CN203228227U (en) | Parallel- series connection industrial robot structure | |
| CN202241279U (en) | Two-degree-of-freedom parallel-connection mechanism comprising 5R closed-loop sub-chain | |
| CN103895006B (en) | Planar three-freedom-degree parallel mechanism | |
| CN102873681A (en) | Novel two-degree-of-freedom manipulator mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140409 Termination date: 20160904 |