CN209036523U - A two-rotating and one-moving arc-shaped guide rail parallel mechanism with fixed drive - Google Patents

Abstract

The utility model relates to the field of industrial robots. The technical scheme is: a parallel mechanism of two-rotation and one-moving arc-shaped guide rails driven and fixed, characterized in that: the parallel mechanism comprises a frame, a moving platform, and three identical branches connected in parallel between the frame and the moving platform; The branch includes an arc-shaped moving auxiliary guide rail, a moving auxiliary sliding block, a spherical hinge, a connecting rod and a rotating pair sequentially connected between the frame and the moving platform; among the three branches, the arc-shaped moving auxiliary guide rail in two branches The centerlines are coplanar, and the plane where the centerline of the arc-shaped moving auxiliary guide rail in the third branch is located is perpendicular to the plane where the centerline of the arc-shaped moving auxiliary guide rail of the two branches is located; The arc-shaped moving auxiliary guide rails are symmetrically arranged with respect to the plane on which the center line of the arc-shaped moving auxiliary guide rail of the third branch is located. The parallel mechanism should have the advantages of fixed drive, fast operation speed and good dynamic performance.

Description

A two-rotating and one-moving arc-shaped guide rail parallel mechanism with fixed drive

technical field

The utility model relates to the field of industrial robots, in particular to a parallel mechanism of two-rotating and one-moving arc-shaped guide rails driven and fixed, which can be used for the curved surface processing of large parts and the like.

Background technique

In the field of mechanical manufacturing, operations such as grinding and machining of curved parts can be realized by installing a spindle head at the end of a traditional CNC machine tool. However, the serial open-loop structure of traditional machine tools will bring a series of problems, such as the surface machining accuracy cannot meet the requirements, the motion inertia of the whole machine is large, the dynamic performance is poor, and the manufacturing/maintenance cost is high.

Different from the open-loop structure of the series mechanism, the parallel mechanism connects the fixed platform and the moving platform through two or more branches, forming a special multi-closed-loop structure, which makes the parallel mechanism have the same degree of freedom and compact structure, motion inertia. It has the advantages of small size, high rigidity and large bearing capacity. At the same time, different from the structural feature that the motor is installed at each joint in the series mechanism, the drive motor that realizes the mechanism movement in the parallel mechanism can be installed close to the frame, and there are many passive joints that do not need to install the motor. The characteristics make the parallel mechanism have higher operating speed and better dynamic characteristics. Based on the above advantages, the parallel mechanism has been widely studied and applied by scholars and the industry in recent years. Among them, the parallel mechanism with two rotations and one movement has been valued and favored. It has been used as the skeleton of many high-end processing equipment and has been successfully applied. It is used in industrial fields such as grinding and polishing of complex curved surfaces and five-axis linkage processing.

While some two-rotation-one-movement parallel mechanisms have been successfully applied (WO 2006062466, US 4732525), there is still a problem: the drive motor is not installed on the frame, which will affect the operating speed of the mechanism and the machining accuracy of parts. For the processing equipment based on the two-rotation-one-movement parallel mechanism, the ideal driving arrangement should be that the branches in the parallel mechanism are all driven by fixed motors, so as to reduce the overall motion quality, improve the dynamic performance and the machining accuracy of parts, and at the same time Reduce the difficulty of actual control. Therefore, it is necessary to propose a two-rotation-one-movement parallel mechanism with fixed drive, fast operation speed and good dynamic performance.

Utility model content

The purpose of this utility model is to overcome the deficiencies in the above-mentioned background technology, and provide a two-rotation-one-moving arc-shaped guide rail parallel mechanism with fixed driving, which should have the advantages of fixed driving, fast operation speed and good dynamic performance.

The technical scheme of the present utility model is:

A two-rotation-one-moving arc-shaped guide rail parallel mechanism driven and fixed, characterized in that: the parallel mechanism comprises a frame, a moving platform, and three identical branches connected in parallel between the frame and the moving platform;

The branch comprises an arc-shaped moving auxiliary guide rail, a moving auxiliary sliding block, a spherical hinge, a connecting rod and a rotating pair sequentially connected between the frame and the moving platform;

Among the three branches, the center lines of the arc-shaped moving auxiliary guide rails in two branches are coplanar, and the plane where the center line of the arc-shaped moving auxiliary guide rails in the third branch is located is perpendicular to the arc-shaped moving auxiliary guide rails of the two branches. The plane where the center line of the guide rail is located; the two arc-shaped moving auxiliary guide rails in the two branches are symmetrically arranged with respect to the plane where the center line of the arc-shaped moving auxiliary guide rail of the third branch is located.

The center line of the arc-shaped moving auxiliary guide rail is an arc.

The moving pair is a driving pair; the driving mechanism of each moving pair is a ball screw mechanism driven by a motor.

A two-rotation-one-moving arc-shaped guide rail parallel mechanism driven and fixed, characterized in that: the parallel mechanism includes a frame, a moving platform, and three identical branches connected in parallel between the frame and the moving platform;

The branch comprises an arc-shaped moving auxiliary guide rail, a moving auxiliary sliding block, a spherical hinge, a connecting rod and a rotating pair sequentially connected between the frame and the moving platform;

The planes where the center lines of the three arc-shaped moving auxiliary guide rails are located are perpendicular to each other; the center lines of the arc-shaped moving auxiliary guide rails are circular arcs, and the centers of the center lines of the three arc-shaped moving auxiliary guide rails intersect at a point.

The moving pair is a driving pair; the driving mechanism of each moving pair is a ball screw mechanism driven by a motor.

A two-rotation-one-moving arc-shaped guide rail parallel mechanism driven and fixed, characterized in that: the parallel mechanism includes a frame, a moving platform, and three identical branches connected in parallel between the frame and the moving platform;

The branch includes a third arc-shaped moving auxiliary guide rail, a third moving auxiliary sliding block, a third spherical hinge, a third connecting rod and a third rotating pair sequentially connected between the frame and the moving platform;

The centerlines of the three third arc-shaped moving auxiliary guide rails are in the same plane and symmetrically arranged on the plane.

The centerlines of the three third arc-shaped moving auxiliary guide rails are all circular arcs.

The centers of the three arcs meet at a point.

The moving pair is a driving pair; the driving mechanism of each moving pair is a ball screw mechanism driven by a motor.

The beneficial effects of the present utility model are:

The parallel mechanism proposed by the utility model can perform two rotations and one movement in space, has the advantages of fixed drive, fast operation speed, good dynamic performance and high rigidity, and can be used in the fields of complex curved surface processing in space and the like.

Description of drawings

FIG. 1 is a schematic three-dimensional structure diagram of Embodiment 1 of the present invention.

FIG. 2 is a schematic three-dimensional structure diagram of Embodiment 2 of the present invention.

FIG. 3 is a schematic three-dimensional structure diagram of the branch in FIG. 1 or FIG. 2 .

FIG. 4 is a schematic three-dimensional structure diagram of Embodiment 3 of the present invention.

FIG. 5 is a schematic three-dimensional structure diagram of the branch in FIG. 4 .

Detailed ways

The present utility model will be further described below with reference to the accompanying drawings, but the present utility model is not limited to the following embodiments.

Example 1

As shown in Figures 1 and 3, a drive-fixed two-rotation-one-moving arc-shaped guide rail parallel mechanism includes a frame (omitted from the figure), a moving platform 1, and three identical parallel connections between the frame and the moving platform. branch.

Each branch includes an arc-shaped moving auxiliary guide rail 11 , a moving auxiliary sliding block 12 , a spherical hinge 13 , a connecting rod 14 and a rotating pair 15 sequentially connected between the frame and the moving platform.

In this embodiment, the center lines of the arc-shaped moving auxiliary guide rails in the two branches are coplanar; the plane where the center line of the arc-shaped moving auxiliary guide rails in the third branch is located is perpendicular to the arc-shaped moving auxiliary guide rails in the two branches. The plane on which the centerline of the rail lies. The arc-shaped moving auxiliary guide rails in the aforementioned two branches are symmetrically arranged with respect to the plane on which the center line of the arc-shaped moving auxiliary guide rail in the third branch is located. Correspondingly; the secondary axes of rotation in the aforementioned two branches are parallel to each other and perpendicular to the secondary axes of rotation in the third branch.

Preferably, the center line of the arc-shaped moving auxiliary guide rail is an arc.

In this embodiment, the driving pair is a moving pair on each branch, and the driving method can be selected from a ball screw (not shown in the figure); when the driving pair moves, the mechanism performs two rotations and one movement with three degrees of freedom.

Embodiment 2

As shown in Figures 2 and 3, a drive-fixed two-rotation-one-movement arc-shaped guide rail parallel mechanism includes a frame (omitted from the figure), a moving platform 1, and three identical parallel connections between the frame and the moving platform. branch.

Each branch includes an arc-shaped moving auxiliary guide rail 11 , a moving auxiliary sliding block 12 , a spherical hinge 13 , a connecting rod 14 and a rotating pair 15 sequentially connected between the frame and the moving platform.

In this embodiment, the planes where the center lines of the three arc-shaped moving auxiliary guide rails are located are perpendicular to each other; the center lines of the three arc-shaped moving auxiliary guide rails are all arcs, and the centers of the arcs intersect at a point. Correspondingly; the rotation axis of the three branches intersect to form an equilateral triangle.

In this embodiment, the driving pair is a moving pair on each branch, and the driving method can be selected from a ball screw (not shown in the figure); when the driving pair moves, the mechanism performs two rotations and one movement with three degrees of freedom.

Embodiment 3

As shown in Figures 4 and 5, a drive-fixed two-rotation-one-moving arc-shaped guide rail parallel mechanism includes a frame (omitted from the figure), a moving platform 1, and three identical parallel connections between the frame and the moving platform. branch.

Each branch includes a third arc-shaped moving auxiliary guide rail 21 , a third moving auxiliary sliding block 22 , a third spherical hinge 23 , a third connecting rod 24 and a third rotating pair 25 sequentially connected between the frame and the moving platform.

In this embodiment, the centerlines of the three third arc-shaped moving auxiliary guide rails are on the same plane; the centerlines of the three third arc-shaped moving auxiliary guide rails are all arcs, and the three arcs are symmetrically arranged on this plane; Can intersect at one point, or not at one point. The axis of rotation in the three branches also intersect to form an equilateral triangle.

In this embodiment, the driving pair is the third arc-shaped moving pair on each branch, and the driving method can be a ball screw (not shown in the figure); when the driving pair moves, the mechanism moves with two rotations and one movement with three degrees of freedom.

Claims (7)

1. a kind of fixed mobile arc-shaped guide rail parallel institution of two rotation one of driving, it is characterised in that: the parallel institution includes machine Frame, moving platform (1) and three identical branches being connected in parallel between slave frame and moving platform；

The branch includes arc prismatic pair guide rail (11), the prismatic pair sliding block being connected in turn between rack and moving platform (12), flexural pivot (13), connecting rod (14) and revolute pair (15).

2. the fixed mobile arc-shaped guide rail parallel institution of two rotation one of driving according to claim 1, it is characterised in that: three In a branch, the center line of the arc prismatic pair guide rail in Liang Ge branch is coplanar, the arc prismatic pair guide rail in third branch Plane locating for center line, plane locating for the arc prismatic pair center line of guide rail perpendicular to aforementioned two branches；Aforementioned two Plane locating for arc prismatic pair center line of guide rail of two arc prismatic pair guide rails about third branch in branch is symmetrical Arrangement.

3. the fixed mobile arc-shaped guide rail parallel institution of two rotation one of driving according to claim 2, it is characterised in that: institute The center line for stating arc prismatic pair guide rail is circular arc.

4. a kind of fixed mobile arc-shaped guide rail parallel institution of two rotation one of driving, it is characterised in that: the parallel institution includes machine Frame, moving platform (1) and three same branches being connected in parallel between slave frame and moving platform；

The branch includes arc prismatic pair guide rail (11), the prismatic pair sliding block being connected in turn between rack and moving platform (12), flexural pivot (13), connecting rod (14) and revolute pair (15)；

Plane locating for three arc prismatic pair guide rails is vertical two-by-two；The center line of the arc prismatic pair guide rail be circular arc, three The center of circle of a arc prismatic pair guide rail is met at a bit.

5. a kind of fixed mobile arc-shaped guide rail parallel institution of two rotation one of driving, it is characterised in that: the parallel institution includes machine Frame, moving platform (1) and three identical branches being connected in parallel between slave frame and moving platform；

The branch includes third arc prismatic pair guide rail (21), the third prismatic pair being connected in turn between rack and moving platform Sliding block (22), third flexural pivot (23), third connecting rod (24) and third revolute pair (25)；

The centerline of three third arc prismatic pair guide rails in same plane and is symmetrically arranged in the plane.

6. the fixed mobile arc-shaped guide rail parallel institution of two rotation one of driving according to claim 5, it is characterised in that: three The center line of a third arc prismatic pair guide rail is circular arc.

7. the fixed mobile arc-shaped guide rail parallel institution of two rotation one of driving according to claim 6, it is characterised in that: three The center of circle of a circular arc intersects at a point.