Redundant driving parallel machine tool executing mechanism with singularity-avoiding characteristic

Abstract

The invention relates to a parallel mechanism, in particular to a redundant driving parallel machine tool executing mechanism capable of avoiding singularity. The redundant driving parallel machine tool executing mechanism comprises a fixed platform, a first driving branch chain, a second driving branch chain, a redundant driving branch chain, a movable platform and a spindle tool bit assembly. According to the redundant driving parallel machine tool executing mechanism, the Z-direction moving stroke and X-direction and Y-direction rotational motion exist; the two driving branch chains connected with an output rod are redundant driving input, and the rotating posture of a tool bit part is adjusted by the redundant driving branch chain to avoid the singularity position so that the tool bitpart can rotate within a large machining range; and the first driving branch chain and the second driving branch chain are the same in structure, and the first driving branch chain, the second drivingbranch chain and the redundant driving branch chain are symmetrically arranged by 120 degrees in a circumferential mode. According to the redundant driving parallel machine tool executing mechanism with a singularity-avoiding characteristic, the flexibility is high, the machining range is large, the stiffness is high, and the redundant driving parallel machine tool executing mechanism can be suitable for the field of high-precision machining of machine tool complex spatial hook faces.

Description

technical field [0001] The invention relates to a mechanism of a parallel machine tool, in particular to an executive mechanism of a parallel machine tool with redundant drive that can avoid singularities. The mechanism can be used for high-precision machine tool processing, free processing of complex curved surfaces with special-shaped structures, etc. Background technique [0002] Aiming at the high-precision processing of complex spatial surfaces in the field of machine tool processing, some of them still use manual post-processing at present, which will bring about high processing costs and long production cycles, and the processing quality is limited by the proficiency of workers. It is difficult to guarantee the precision of machining; although the traditional tandem machine tool has the advantage of large working space, it has been applied in industry, but because its structure is connected in series, the tool processing part as the output end of the machine tool is a...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the high-efficiency and high-precision task requirements in the field of machine tool processing, the present invention proposes a redundant drive parallel machine tool actuator with singularity avoidance characteristics. The redundant drive branch chain adjusts the rotation posture of the cutter head to avoid the singular position, so that the rotation of the cutter head has a large processing range, and the introduction of the redundant drive characteristics of the parallel mechanism makes the mechanism have good movement and Dynamic performance, able to meet the needs of high-precision machining of complex spatial surfaces in the field of machine tool processing

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