CN110340874B - Three-degree-of-freedom parallel driving parallel processing device - Google Patents
Three-degree-of-freedom parallel driving parallel processing device Download PDFInfo
- Publication number
- CN110340874B CN110340874B CN201910698450.5A CN201910698450A CN110340874B CN 110340874 B CN110340874 B CN 110340874B CN 201910698450 A CN201910698450 A CN 201910698450A CN 110340874 B CN110340874 B CN 110340874B
- Authority
- CN
- China
- Prior art keywords
- sleeve
- connecting rod
- driving mechanism
- rotating pair
- screw
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention provides a three-degree-of-freedom parallel driving parallel processing device which comprises a mounting frame, a processing head device and three branch mechanisms connected between the mounting frame and the processing head device, wherein each branch mechanism comprises a first rotating pair, a first connecting rod, a second rotating pair, a second connecting rod, a third rotating pair, an extending sleeve, a nut, a screw rod, a synchronous belt and a first driving mechanism. First actuating mechanism passes through the hold-in range with the lead screw lower extreme and links to each other, and the lead screw upper end is passed through the bearing and is rotated with the copper sheathing and link to each other, stretches out telescopic first end and screw and links firmly, stretches out telescopic second end and is connected with the second connecting rod through the third revolute pair, and the first end of first connecting rod is connected with the upper mounting plate through first revolute pair, and the second end of first connecting rod meets through second revolute pair and second connecting rod. The invention has compact integral structure, large load capacity and good dynamic performance isotropy, and the screw rod and the nut of each branch mechanism are matched with the cylindrical sleeve to enhance the rigidity and improve the processing precision of the system.
Description
Technical Field
The invention belongs to the field of mechanical manufacturing, and particularly relates to a parallel processing device with three degrees of freedom and parallel driving.
Background
The multi-axis linkage numerical control machining plays a significant role in the fields of aerospace, war industry, scientific research and the like in one country, the existing multi-axis linkage numerical control machine tool generally adopts a tandem type, a workbench beam and a main shaft part realize X, Y, Z-axis movement, and a swing fork type or a universal swing head is added to realize two rotary motions of an AC (alternating current) axis or an AB axis. Although the serial robot has a large main shaft deflection angle and a large rotation speed, the transmission chain is long, so that errors are accumulated and then increased, and the overall precision is low. Although the parallel connection type is researched later than the serial connection type, the parallel connection mechanism has the advantages of high processing precision, high rigidity, strong bearing capacity, small inertia of the end piece and the like, and has obvious advantages in the occasions with high speed and large bearing capacity.
The patent with the application number of CN201810810915 provides a double-drive five-rod sliding block parallel mechanism numerical control machining platform, a five-rod sliding block mechanism is adopted for motion synthesis, the structure is novel, simple and reliable, but the machining platform can only realize accurate control in a plane, and cannot meet the machining work of complex curved surfaces. The patent with the application number of CN201810581018 provides a mobile series-parallel processing robot based on a three-degree-of-freedom force control parallel module, the high-quality working space range of the robot is enlarged, and the defects are that the cost of the motor is high, and the first driving mechanism is installed on a fixed platform to form rotation, so that the difficulty in engineering realization is high.
The device disclosed by the patent with the application number of CN201811202697 comprises a parallel bearing device, a series-parallel robot device, a polishing integrated device and a co-fusion control detection system, and has the characteristics of stable structure, high precision, high rigidity and coordinated co-fusion among multiple devices, but the working space of the device is limited by the parallel bearing device and the series-parallel robot device, so that the working space is smaller. The patent with the application number of CN200910236238 provides a series-parallel robot combined machining system and a control method thereof, the machining degree of automation is high, the production efficiency is high, the bearing capacity is large, and certain intelligence is achieved, but the machined workpiece needs to be placed on a parallel platform, and only a small workpiece can be machined.
Disclosure of Invention
The invention aims to overcome the defects of insufficient structure of the traditional series machining head and insufficient working space of a common parallel machining head, provides a large-space three-degree-of-freedom parallel driving parallel machining device, ensures that the whole machining robot has the characteristics of high rigidity, low motion inertia, good dynamic performance isotropy and the like, and can realize quick, stable and high-precision machining when applied to a hybrid machine tool.
The technical scheme of the invention is as follows:
the three-degree-of-freedom parallel driving parallel processing device comprises an installation frame, three uniformly distributed branch mechanisms with completely identical structures, a movable platform and a processing head device, wherein the installation frame is connected with the movable platform through the three branch mechanisms;
the mounting frame comprises an upper mounting plate, three fixing sleeves and a lower mounting plate, the three fixing sleeves are uniformly distributed and arranged, the upper mounting plate and the lower mounting plate are fixedly connected by means of the three fixing sleeves, the number of the fixing sleeves corresponds to that of the branch mechanisms,
each branch mechanism comprises a first rotating pair, a first connecting rod, a second rotating pair, a second connecting rod, a third rotating pair, a stretching sleeve, a sliding copper sleeve, a bearing, a nut, a lead screw, a connecting mechanism, an encoder, a first driving mechanism and a driving mechanism mounting plate, wherein the axis of the third rotating pair is parallel to the axis of the second rotating pair, and the axis of the second rotating pair is intersected with the axis of the first rotating pair at one point; the first end of the lead screw is connected with a first driving mechanism through a connecting mechanism, the end part of the first end of the lead screw is connected with the encoder, the encoder is arranged for feeding back the displacement of the lead screw, the second end of the lead screw is fixedly connected with the inner ring of a bearing, the outer ring of the bearing is fixedly connected with the inner wall of a sliding copper sleeve, the sliding copper sleeve is arranged inside the extending sleeve, the extending sleeve of each branch mechanism is arranged inside one fixing sleeve and can slide inside the fixing sleeve, and the sliding copper sleeve can slide inside the extending sleeve and is static relative to the fixing sleeve in the axial direction; the screw with form the screw pair between the lead screw, stretch out telescopic first end with screw fixed connection, the lower extreme of second connecting rod links to each other with the second end that stretches out the sleeve through the third revolute pair, the upper end of second connecting rod links to each other with first connecting rod through the second revolute pair, and the upper end of first connecting rod links to each other with moving the platform through first revolute pair, first actuating mechanism installs with the help of the actuating mechanism mounting panel.
Preferably, the processing head device is provided with a polishing head, the polishing head comprises a polishing head, a belt, a mounting frame and a second driving mechanism, and the second driving mechanism and the polishing head are connected together by means of the belt.
Preferably, the upper mounting plate and the lower mounting plate are connected by three evenly distributed fixing sleeves, each fixing sleeve being connected to a projecting sleeve of a branch, the projecting sleeves being slidable inside the fixing sleeves.
Preferably, the connecting mechanism is a synchronous belt, and the first end of the lead screw is connected with the first driving mechanism through the synchronous belt.
Preferably, the mounting frame further comprises a synchronous belt pre-tightening plate, and the pre-tightening force of the synchronous belt is adjusted between the synchronous belt pre-tightening plate and the driving mechanism mounting plate through an adjusting bolt.
Preferably, a long hole is formed in the driving mechanism mounting plate, and the long hole can be matched with an adjusting bolt to adjust the pre-tightening force.
Preferably, the connecting mechanism is a coupler, and the first end of the lead screw is directly connected with the first driving mechanism through the coupler.
Preferably, the first driving mechanism and the second driving mechanism are motors or hydraulic cylinders.
Compared with the prior art, the invention has the following beneficial effects:
1. three branch mechanisms connected in parallel in the system are arranged in an evenly distributed mode, so that the system is high in load capacity and good in dynamic performance isotropy.
2. Because the mechanism adopts the mode that the extending sleeve slides in the fixed sleeve, and the installation mode of the lead screw adopts the fixed mode that one end is fixed and the other end moves, the rigidity and the processing precision of the mechanism are greatly improved.
3. The first driving mechanism and the lead screw are positioned on the same side, so that the whole structure becomes very compact, and the working space of the device is improved to the maximum extent.
4. The invention skillfully adopts the set screw to adjust the pretightening force of the synchronous belt, and the proper adjustment of the pretightening force can not only reduce friction and prolong the service life, but also reduce the transmission noise and improve the transmission precision.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall construction of the mounting frame of the present invention;
FIG. 3 is an internal three-dimensional schematic view of the present invention;
FIG. 4a is a three-dimensional schematic view of a first leg mechanism of the present invention;
FIG. 4b is a cross-sectional view of portion A of FIG. 4a in accordance with the present invention;
fig. 5 is a schematic bottom view of the present invention.
Some of the reference numbers in the figures are as follows:
1-a polishing head, 2-a movable platform, 3-a first branch mechanism, 4-a second branch mechanism, 5-a third branch mechanism, 6-a mounting frame and 7-a processing head device; 101-grinding head, 102-belt, 103-mounting frame, 104-second driving mechanism; 301-a first rotating pair, 302-a first connecting rod, 303-a second rotating pair, 304-a second connecting rod, 305-a third rotating pair, 306-an extending sleeve, 307-a sliding copper sleeve, 308-a bearing, 309-a nut, 310-a lead screw, 311-a synchronous belt, 312-an encoder, 313-a driving mechanism mounting plate and 314-a first driving mechanism; 601-upper mounting plate, 602-fixed sleeve, 603-synchronous belt pretightening plate and 604-lower mounting plate.
Detailed Description
Exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The invention provides a three-degree-of-freedom parallel driving parallel processing device, which comprises an installation frame 6, three branch mechanisms, a movable platform 2 and a processing head device 7, wherein the installation frame 6 is connected with the movable platform 2 through the three branch mechanisms, as shown in fig. 1 to 5. The structure of each branch mechanism is completely the same and is evenly distributed in space.
The mounting frame 6 includes an upper mounting plate 601, three fixing sleeves 602, a timing belt pretension plate 603 and a lower mounting plate 604, the three fixing sleeves 602 are uniformly distributed, the upper mounting plate 601 and the lower mounting plate 604 are fixedly connected by means of the three fixing sleeves 602, and the number of the fixing sleeves 602 corresponds to the number of the branch mechanisms.
Each branch mechanism comprises a first rotating pair 301, a first connecting rod 302, a second rotating pair 303, a second connecting rod 304, a third rotating pair 305, a stretching sleeve 306, a sliding copper sleeve 307, a bearing 308, a nut 309, a lead screw 310, a synchronous belt 311, an encoder 312, a driving mechanism mounting plate 313 and a first driving mechanism 314.
The axis of the third revolute pair 305 is parallel to the axis of the second revolute pair 303, and the axis of the second revolute pair 303 intersects with the axis of the first revolute pair 301 at a point; the first end of the lead screw 310 is connected with the first driving mechanism through the connecting mechanism, the end of the first end of the lead screw 310 is connected with the encoder 312, the encoder 312 is arranged for feeding back the displacement of the lead screw, the second end of the lead screw 310 is fixedly connected with the inner ring of the bearing 308, the outer ring of the bearing 308 is fixedly connected with the inner wall of the sliding copper sleeve 307, the sliding copper sleeve 307 is arranged inside the extending sleeve, the extending sleeve of each branch mechanism is arranged inside one fixed sleeve 602 and can slide inside the fixed sleeve 602, and the sliding copper sleeve can slide inside the extending sleeve and is static relative to the fixed sleeve 602 in the axial direction.
A screw pair is formed between the screw nut 309 and the screw rod 310, the first end extending out of the sleeve 306 is fixedly connected with the screw nut, the lower end of the second connecting rod 304 is connected with the second end extending out of the sleeve through a third rotating pair, the upper end of the second connecting rod 304 is connected with the first connecting rod through a second rotating pair, the upper end of the first connecting rod 302 is connected with the movable platform 2 through a first rotating pair 301, and the first driving mechanism is installed by means of a driving mechanism installing plate.
Preferably, the machining head device 7 is equipped with a grinding head including a grinding head 101, a belt 102, a mounting frame 103, and a second drive mechanism 104, wherein the second drive mechanism 104 and the grinding head 101 are connected together by the belt 102. The belt 102 can alleviate impact and vibration, and when the load is too large, the belt 102 slips on the wheels to prevent other parts from being damaged, thereby playing a safety protection role.
Preferably, three fixing sleeves 602 are uniformly distributed, the upper mounting plate 601 and the lower mounting plate 604 are connected by three uniformly distributed fixing sleeves 602, each fixing sleeve 602 is connected with the extending sleeve 306 of one branch mechanism, and the extending sleeve 306 can slide in the fixing sleeve 602.
Preferably, the connecting mechanism is a timing belt 311, and the first end of the lead screw 310 is connected to the first driving mechanism 314 through the timing belt 311.
Preferably, the mounting frame 6 further comprises a timing belt pre-tightening plate 603, and the pre-tightening force of the timing belt is adjusted between the timing belt pre-tightening plate 603 and the driving mechanism mounting plate 313 through an adjusting bolt.
Preferably, the driving mechanism mounting plate 313 is provided with a long hole, and the long hole can be matched with an adjusting bolt to realize the adjustment of the pretightening force.
The first driving mechanism 314 and the lead screw 310 are connected through a synchronous belt 311, so that the first driving mechanism 314 and the lead screw 310 are both positioned above the lower mounting plate 604, the mounting mode enables the structure to be more compact, the occupied mounting space to be smaller, and the first driving mechanism 314 and the lead screw 310 can also be directly connected through a coupler.
In the invention, the driving mechanism is driven by a motor, a hydraulic pressure or other driving modes.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The embodiment of the invention provides a three-degree-of-freedom parallel driving parallel processing device which comprises a polishing head 1, a movable platform 2, a first branch mechanism 3, a second branch mechanism 4, a third branch mechanism 5 and an installation frame 6, wherein the installation frame 6 and the movable platform 2 are connected together through the first branch mechanism 3, the second branch mechanism 4 and the third branch mechanism 5 which are symmetrical.
The mounting frame comprises an upper mounting plate 601, a fixed sleeve 602, a synchronous belt pre-tightening plate 603 and a lower mounting plate 604, wherein the upper mounting plate 601 and the lower mounting plate 604 are fixedly connected together through the three uniformly distributed fixed sleeves 602, so that the mounting frame is strong in load capacity and good in dynamic performance isotropy.
The second branch mechanism 4 and the third branch mechanism 5 have the same structure as the first branch mechanism 3, and in this embodiment, taking the first branch mechanism as an example, the first branch mechanism 3 includes a first rotating pair 301, a first connecting rod 302, a second rotating pair 303, a second connecting rod 304, a third rotating pair 305, a protruding sleeve 306, a sliding copper bush 307, a bearing 308, a nut 309, a lead screw 310, a timing belt 311, an encoder 312, a driving mechanism mounting plate 313, and a first driving mechanism 314.
The first driving mechanism 314 and the lead screw 310 are connected through a synchronous belt 311, so that the first driving mechanism 314 and the synchronous belt 311 are both positioned on one side of the upper mounting plate 601, and the first driving mechanism 314 and the lead screw 310 are positioned on the same side, so that the whole structure becomes very compact, and the working space of the device is improved to the maximum extent.
The first end of the screw rod 310 is connected with the synchronous belt 311, the extending shaft at the first end of the screw rod is connected with the encoder 312, the encoder is configured to feed back the displacement parameters of the screw rod, the number of turns of the screw rod can be clearly known, and the extending length of the extending sleeve 306 can be further determined.
The second end of the screw 310 is fixedly connected with the inner ring of the bearing 308, the outer ring of the bearing 308 is fixedly connected with the inner ring of the sliding copper sleeve 307, the sliding copper sleeve 307 can slide in the extending sleeve 306, the extending sleeve slides in the fixed sleeve, and the screw is installed in a fixed mode that one end of the screw is fixed and the other end of the screw moves, so that the rigidity and the machining precision of the mechanism are greatly improved.
A screw pair is formed between the screw nut 309 and the screw rod 310, a first end of the extending sleeve 306 is fixedly connected with the screw nut 309, a second end of the extending sleeve 306 is connected with the second connecting rod 304 through a third revolute pair 305, a first end of the first connecting rod 302 is connected with the movable platform 2 through a first revolute pair 301, and a second end of the first connecting rod 302 is connected with the second connecting rod 302 through a second revolute pair 310.
The machining device for grinding comprises a grinding head 101, a belt 102, a mounting frame 103 and a second driving mechanism 104, wherein the second driving mechanism 104 and the grinding head 101 are connected together through the belt 102. The belt can alleviate impact and vibration, and the belt skids on the wheel and then prevents other parts from damaging when load is too big moreover, plays the safety protection effect.
The working principle of the invention is as follows:
the movable platform realizes the motion of the movable platform in three degrees of freedom in space by means of the telescopic motion of the three branch mechanisms extending out of the sleeve, rotates around an X axis, rotates around a Y axis and moves along the Z direction.
The projecting sleeve of each branch is arranged inside one of the fixed sleeves 602 and can slide inside the fixed sleeve 602, and the sliding copper bush can slide inside the projecting sleeve and is stationary in the axial direction with respect to the fixed sleeve 602.
The motor can drive the lead screw to rotate through the synchronous belt, the screw nut converts the rotary motion of the lead screw into linear motion and then extends out of the sleeve to realize the linear motion along the axial direction, and the extending out sleeve slides in the fixed sleeve, so that the rigidity and the processing precision of the mechanism are greatly improved.
The processing head device is fixedly connected to the movable platform, the pose of the processing head is changed through the cooperative motion of the first branch mechanism, the second branch mechanism and the third branch mechanism, namely the rotation of the motor, namely the rotation around an X axis, the rotation around a Y axis and the movement along a Z direction, and the three branch mechanisms are arranged in an evenly distributed mode, so that the processing head device is high in load capacity and good in dynamic performance isotropy.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A three-degree-of-freedom parallel driving parallel processing device is characterized in that: the device comprises a mounting frame, three uniformly distributed branch mechanisms with completely same structures, a movable platform and a processing head device, wherein the mounting frame is connected with the movable platform by virtue of the three branch mechanisms;
the mounting frame comprises an upper mounting plate, three fixing sleeves and a lower mounting plate, the three fixing sleeves are uniformly distributed and arranged, the upper mounting plate and the lower mounting plate are fixedly connected by means of the three fixing sleeves,
each branch mechanism comprises a first rotating pair, a first connecting rod, a second rotating pair, a second connecting rod, a third rotating pair, a stretching sleeve, a sliding copper sleeve, a bearing, a nut, a lead screw, a connecting mechanism, an encoder, a first driving mechanism and a driving mechanism mounting plate, wherein the axis of the third rotating pair is parallel to the axis of the second rotating pair, and the axis of the second rotating pair is intersected with the axis of the first rotating pair at one point; the connecting mechanism is a synchronous belt, a first end of the lead screw is connected with the first driving mechanism through the synchronous belt, the end part of the first end of the lead screw is connected with the encoder, the encoder is arranged for feeding back the displacement of the lead screw, a second end of the lead screw is fixedly connected with an inner ring of the bearing, an outer ring of the bearing is fixedly connected with the inner wall of a sliding copper sleeve, the sliding copper sleeve is arranged inside the extending sleeve, the extending sleeve of each branch mechanism is arranged in one fixed sleeve and can slide inside the fixed sleeve, and the sliding copper sleeve can slide inside the extending sleeve and is static relative to the fixed sleeve in the axial direction; a screw pair is formed between the screw nut and the screw rod, the first end of the extending sleeve is fixedly connected with the screw nut, the lower end of the second connecting rod is connected with the second end of the extending sleeve through a third rotating pair, the upper end of the second connecting rod is connected with the first connecting rod through a second rotating pair, the upper end of the first connecting rod is connected with the movable platform through a first rotating pair, and the first driving mechanism is installed on the lower installation plate through a driving mechanism installation plate;
the first driving mechanism drives the screw rod to rotate through the synchronous belt, the screw nut converts the rotary motion of the screw rod into linear motion, and the extending sleeve slides in the fixed sleeve, so that the extending sleeve can linearly move along the Z direction;
the movable platform realizes the motion of the movable platform in three degrees of freedom in space by means of the telescopic motion of the extending sleeves of the three branch mechanisms, wherein the motion of the three degrees of freedom in space is respectively rotation around an X axis, rotation around a Y axis and movement along a Z direction.
2. The three-degree-of-freedom parallel driving parallel processing device according to claim 1, characterized in that: the grinding head is installed to the processing head device and comprises a grinding head, a belt, a mounting frame and a second driving mechanism, and the second driving mechanism and the grinding head are connected together through the belt.
3. The three-degree-of-freedom parallel driving parallel processing device according to claim 2, characterized in that: the installation frame further comprises a synchronous belt pre-tightening plate, and pre-tightening force of the synchronous belt is adjusted between the synchronous belt pre-tightening plate and the driving mechanism installation plate through adjusting bolts.
4. The three-degree-of-freedom parallel driving parallel processing device according to claim 1, characterized in that: be provided with the slot hole on the actuating mechanism mounting panel, the slot hole can cooperate adjusting bolt to realize the regulation to the pretightning force.
5. The three-degree-of-freedom parallel driving parallel processing device according to claim 2, characterized in that: the first driving mechanism and the second driving mechanism are motors or hydraulic cylinders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910698450.5A CN110340874B (en) | 2019-07-31 | 2019-07-31 | Three-degree-of-freedom parallel driving parallel processing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910698450.5A CN110340874B (en) | 2019-07-31 | 2019-07-31 | Three-degree-of-freedom parallel driving parallel processing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110340874A CN110340874A (en) | 2019-10-18 |
| CN110340874B true CN110340874B (en) | 2021-01-15 |
Family
ID=68183390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910698450.5A Active CN110340874B (en) | 2019-07-31 | 2019-07-31 | Three-degree-of-freedom parallel driving parallel processing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110340874B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652794B (en) * | 2023-06-16 | 2024-06-07 | 浙江大学 | Seven-axis six-linkage structure flexible grinding and polishing machine tool |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5816105A (en) * | 1996-07-26 | 1998-10-06 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Three degree of freedom parallel mechanical linkage |
| CN101518898B (en) * | 2009-04-09 | 2010-10-13 | 浙江理工大学 | Parallel mechanism with three freedom degrees of twice rotation and once motion |
| CN201824212U (en) * | 2010-09-03 | 2011-05-11 | 洛阳北方玻璃技术股份有限公司 | Grinding head device for grinding edges of glass |
| CN102699904B (en) * | 2012-07-03 | 2015-08-05 | 河北工业大学 | A kind of six degree of freedom three side chain parallel robot mechanism |
| CN103612684B (en) * | 2013-12-05 | 2015-09-16 | 燕山大学 | A kind of three plane branch six-freedom parallel climbing robots |
| CN105234685B (en) * | 2015-11-03 | 2017-09-22 | 郑州轻工业学院 | A kind of parallel machine configuration based on 3RRRS mechanisms |
-
2019
- 2019-07-31 CN CN201910698450.5A patent/CN110340874B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110340874A (en) | 2019-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109986542B (en) | Rigid-flexible hybrid type force control end effector driven by gas-electricity hybrid | |
| CN103101049B (en) | Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain | |
| CN107443173B (en) | Large-stroke high-rigidity serial-parallel machine tool with reconfigurable characteristic | |
| CN103101050A (en) | Novel plane two-degree-of-freedom redundant drive parallel moving platform | |
| JP5383135B2 (en) | Directly driven tool changer with actuator for reciprocating and swiveling motion | |
| KR100955530B1 (en) | Table cylinder for linear robot of clean type | |
| CN206185864U (en) | Can supply to carry automatic robot of article | |
| WO2015056375A1 (en) | R-θ TABLE DEVICE, INTERNAL-THREAD PROCESSING DEVICE, AND VARIABLE CRANK DEVICE | |
| CN114227649B (en) | Three-movement two-rotation five-degree-of-freedom parallel driving robot | |
| CN101844314A (en) | High-speed high- precision servo linear motor sliding table | |
| CN109676594A (en) | A kind of four axis robot of high-precision | |
| CN101664928B (en) | Vacuum robot | |
| CN212278098U (en) | High-precision combined transmission device | |
| CN110340874B (en) | Three-degree-of-freedom parallel driving parallel processing device | |
| CN101983296A (en) | Cylinder device | |
| CN209868599U (en) | Rigid-flexible hybrid force control end effector driven by gas and electricity | |
| CN110594379B (en) | Nut driving type hydrostatic lead screw transmission pair and machine tool | |
| CN104786211A (en) | Six-freedom-degree industrial robot with ball screw pairs | |
| CN110355740B (en) | Parallel mechanism with two motion modes of 1R1T and 3T | |
| CN209682189U (en) | A kind of four axis robot of high-precision | |
| CN110000755B (en) | Parallel mechanism with two-movement-one-screw and two-movement-one-rotation motion modes | |
| CN108115544A (en) | Horizontal hinge top gem of a girdle-pendant lathe in high precision | |
| CN207464957U (en) | Horizontal hinge top gem of a girdle-pendant lathe in high precision | |
| CN105108741A (en) | Four-DOF (degree of freedom) hybrid robot having large work space | |
| CN1078515C (en) | 5-coordinate compound structure of numerically controlled machine-tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |