CN1116959C - New-type mixed-coupled five-freedom virtual shaft machine tool - Google Patents
New-type mixed-coupled five-freedom virtual shaft machine tool Download PDFInfo
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- CN1116959C CN1116959C CN 01107247 CN01107247A CN1116959C CN 1116959 C CN1116959 C CN 1116959C CN 01107247 CN01107247 CN 01107247 CN 01107247 A CN01107247 A CN 01107247A CN 1116959 C CN1116959 C CN 1116959C
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Abstract
提出了一种虚拟轴数控机床的新结构，包括机架、固定平台、安装切削刀具的动平台、可带动被切削工件双向移动的工作台，固定平台与动平台之间通过三条腿相联。其中，一条腿与固定平台刚性固联，与动平台通过虎克铰相联，另外两条腿与固定平台之间通过虎克铰相联，与动平台之间通过球铰相联。本发明具有结构抗震性与切削稳定性好，可实现大倾角加工，对元件制造和控制精度要求低，数控编程容易，可以实现五轴联动加工等优点。
A new structure of a virtual axis CNC machine tool is proposed, including a frame, a fixed platform, a moving platform on which cutting tools are installed, and a worktable that can drive the workpiece to be cut in two directions. The fixed platform and the moving platform are connected by three legs. Among them, one leg is rigidly connected to the fixed platform, and connected to the moving platform through a Hooke hinge, and the other two legs are connected to the fixed platform through a Hooke hinge, and connected to the moving platform through a spherical hinge. The invention has the advantages of good structural shock resistance and cutting stability, can realize large inclination angle processing, has low requirements on element manufacturing and control precision, is easy to program in numerical control, can realize five-axis linkage processing, and the like.
Description
The invention belongs to Digit Control Machine Tool manufacturing technology field, particularly belong to a kind of virtual-axis nc machine tool.
Traditional Digit Control Machine Tool adopts in-line frame for movement, the shortcoming of this machine tool structure is that mechanism's heaviness, parts are many, transmission chain length, bulky, complex structure, involve great expense, the lathe each several part is stressed, thermal deformation is inhomogeneous, in process, be subjected to make under the acting in conjunction of pulling force, pressure, moment of flexure, moment of torsion lathe to produce distortion, vibrations, add that error accumulation causes the reduction of machining accuracy.Because the weight and the volume of parts are big, have limited speed and the acceleration in the process and improved in addition.
Existing is the virtual-shaft machine tool of prototype with the 6-SPS parallel institution, owing to connect by six retractable legs between pedestal and the main shaft moving platform, and determine the motion of moving platform as stretching motion by six legs with intercoupling simultaneously, the stressed of main shaft moving platform shared by six legs, so every leg is stressed much smaller, and only be subjected to pulling force or pressure, be not subjected to moment of flexure or moment of torsion, thus the rigidity height, the moving-member quality is little, simple in structure and identical parts quantity to become with the 6-SPS parallel institution be the outstanding advantage of the virtual-shaft machine tool of prototype more.But based on the virtual-shaft machine tool of 6-SPS parallel institution also exist working space little, be difficult to realize high inclination-angle processing, position and attitude coupling, and numerical control programming is complicated and shortcomings such as difficulty.Therefore, the existing virtual-shaft machine tool part that not too is fit to machining large, has complex-curved type
The objective of the invention is to design a kind of advantage of both having used for reference traditional Digit Control Machine Tool and existing virtual-shaft machine tool, overcome simultaneously the deficiencies in the prior art part again, the virtual-shaft machine tool that cascaded structure and parallel-connection structure are organically blent, make this virtual-shaft machine tool have advantages such as simple in structure, that processing is flexible, machining accuracy is high, process velocity is fast, processing technology is good, numerical control programming is easy, can satisfy the requirement of user the multi-axis linkage numerical control processing of heavy parts and complex-curved class part.
The virtual-shaft machine tool of the present invention's design, comprise the lathe frame, fixed platform, the moving platform of cutting tool is installed, can drive and be cut the two-way mobile workbench of workpiece, fixed platform and workbench are placed on the frame, it is characterized in that, link by three legs between fixed platform and the moving platform and form space closed chain mechanism in parallel, wherein, one leg and fixed platform rigidity connect firmly, link by Hooke's hinge with moving platform, link by Hooke's hinge between two other leg and the fixed platform, and link by ball pivot between the moving platform, three legs all contain moving sets and moving sets drive unit.Can control position and the attitude that moving platform is fixed a cutting tool by the stroke that changes three legs, and with the cooperating of two-way travelling table, can realize five-axle linkage processing.Said two-way travelling table is structurally separate with closed chain mechanism in parallel, carries out interlock control in control.
In order to realize the foregoing invention purpose better, also can further take following technical measures:
1, its moving sets of one leg of connecting firmly of a said end and fixed platform is interior moving sets; The moving sets of two other leg can be interior moving sets with outer moving sets in a kind of.
2, the moving sets drive unit of said three legs is a kind of in the drive unit that constitutes of hydraulic jack drive unit and servomotor and turn-screw nut.
3, the contained kinematic system of said two-way travelling table is made up of servomotor, guide rail, ball-screw, ball nut etc., can drive and be cut workpiece along X, Y direction translation.
4, the design of the center of said moving platform is useful on the cavity that main shaft driving device is installed.
5, three legs all can be designed to the stretching structure bar, also the one leg that connects firmly with fixed platform can be designed to the stretching structure bar, the two other leg is designed to the length-fixed structure bar, length-fixed structure bar one end is that Hooke's hinge connects with slide block, and link by slide block guide rail and fixed platform, slide block is driven by the feed screw nut that servomotor drives, and the other end links by ball pivot and moving platform.
6, the Hooke's hinge of a said end in the leg that fixed platform connects firmly can replace with ball pivot and revolute pair respectively with Hooke's hinge in one of two other leg.
Brief Description Of Drawings:
Accompanying drawing 1 is the embodiment of the invention one a general structure schematic diagram.
Accompanying drawing 2 is the schematic diagram of space three-freedom connection-in-parallel mechanism.
Accompanying drawing 3 is the embodiment of the invention two general structure schematic diagrames.
Accompanying drawing 4 is the embodiment of the invention three general structure schematic diagrames.
The outline drawing of the one leg that accompanying drawing 5 connects firmly mutually for an end of the present invention and fixed platform.
The sectional structure schematic diagram of accompanying drawing 6 one leg that to be an end connect firmly mutually with fixed platform.
Accompanying drawing 7 is that A-A in the accompanying drawing 5 is to the sectional structure schematic diagram.
Accompanying drawing 8 is the outline drawing of the identical two legs of structure.
Accompanying drawing 9 is the sectional structure schematic diagram of the identical two legs of structure.
Accompanying drawing 10 is that A-A in the accompanying drawing 8 is to the sectional structure schematic diagram.
Below in conjunction with accompanying drawing, introduce four kinds of structure and operation principles of the present invention in detail based on the virtual-shaft machine tool embodiment of 3-freedom parallel mechanism.
Embodiment one:
The general structure of embodiment one as shown in Figure 1, by lathe frame, space closed chain mechanism in parallel and fixedly the workbench 10 of workpiece to be machined constitute, wherein space closed chain mechanism in parallel again by fixed platform 24, the moving platform 9 of cutting tool is installed and three legs linking with fixed platform, moving platform respectively constitute.Article three, leg is the stretching structure bar, and wherein an end of one leg 5 and fixed platform 24 rigidity connect firmly, and the other end and moving platform 9 link by Hooke's hinge 7; The leg 2 that the two other structure is identical and the Hooke's hinge 1 that passes through of fixed platform 24 link, and link by ball pivot 4 with moving platform 9.Drive the workbench 10 that workpiece to be machined can move along X, Y direction, closed chain mechanism structurally in parallel with the space is separate, and its motion is made of servomotor 11, guide rail, ball screw, ball nut etc.Space closed chain mechanism structure in parallel add the moving platform upper link point triangular layout intrinsic stability, make this structure have favorable rigidity, seismic resistance and cutting stability.Fixed platform is placed in frame top 14, and it is the sidewall and the rear wall of frame that workbench 10 is placed in frame bottom 15,12 and 13.
Fig. 2 is the schematic diagram of the three-freedom degree spatial parallel structure of present embodiment.This parallel institution is made up of a fixed platform (A1, A2, A3) and a motion platform (B1, B2, B3).Moving platform and fixed platform link by the leg of three stretching structures.Wherein one leg one end rigidity is fixed on the A3 point of fixed platform, and the other end links by Hooke's hinge B3 and moving platform.Link by ball pivot B1, B2 between two other leg and the moving platform, and link by Hooke's hinge A1, A2 between the fixed platform.Change the stroke of three legs, can realize the attitude of moving platform and along the position of Z-direction.
The one leg that one end and fixed platform connect firmly is the stretching structure bar, its concrete structure shown in Fig. 5-7, among Fig. 6, the 32nd, servomotor, can rotate as requested by the ball-screw 28 of drive installation on bearing 29, servomotor 32 links by shaft coupling 31 with ball-screw 28.Servomotor 32 is installed in the hollow cylinder cylinder body 33.Ball nut 26 is installed together with linear guide 6, and linear guide 6 is installed in the hollow cylinder cylinder body 33 of leg with end cap 27.Linear guide 6 under guide groove constraint, moving linearly and can not do gyration vertically around axis.Therefore when servomotor drove ball screw 28 rotations, linear guide 6 was just made stretching motion vertically under the drive of ball nut 26.7 is Hooke's hinge among Fig. 6, is used to connect moving platform.During installation, cylinder block 33 connects firmly together with the fixed platform rigidity.
The two other leg that structure is identical also is the stretching structure bar, and its concrete structure is shown in Fig. 8-10.The structure of this two legs is identical substantially with the structure of the one leg that an end and fixed platform connect firmly, and difference is that an end of the two legs that structure is identical is Hooke's hinge 1 structure, is used to the platform that is connected and fixed, and the other end is ball pivot 4 structures, is used to connect moving platform.Linear guide 3 is installed in the hollow cylinder cylinder body 2 of leg with end cap 27.
The operation principle of this virtual-shaft machine tool is:
Workpiece to be machined is fixed on the table top of workbench 10, and three legs can be made stretching motion under the driving of servomotor, makes the cutting tool on the moving platform 9 obtain the motion of Three Degree Of Freedom, that is: along the translation of Z-direction and around the rotation of X-axis and Y-axis.Workbench 10 can be done along the reciprocating motion of X and Y direction under the driving of servomotor 11.More than two motions synthetic, lathe has just been realized driving cutting tool and has been done five-axle linkage working motion with respect to workpiece.Cutting tool rotates under the driving of spindle motor 8, thereby realizes the processing to arbitrary surface.
Embodiment two:
Embodiment two general structures as shown in Figure 3, its general structure is roughly identical with embodiment one, difference is that the two legs 2 that the structure among the embodiment one is identical is replaced by length-fixed structure bar 22 in the present embodiment.Wherein an end of length-fixed structure bar 22 links by Hooke's hinge 21 and slide block 20, and the other end links by ball pivot 23 and moving platform 9.The driving lower edge guide rail 19 of the leading screw 17 that slide block 20 can drive at servomotor 16 moves up and down, and two secondary guide rails 19 are fixedly mounted on respectively on the sidewall 12 and rear wall 13 of lathe frame.The 18th, the erection support of screw mandrel 17.
Embodiment three:
Embodiment three general structures as shown in Figure 4, its general structure is roughly identical with embodiment one, difference is, in the present embodiment, what adopt is stationary work-table, the fixed platform 24 of space closed chain mechanism in parallel is that rigidity connects firmly in the two-way travel mechanism 25 that is positioned at above the stationary work-table, and drive lower edge X, the Y direction translational of the feed screw nut that two-way travel mechanism can drive at servomotor 11.Structure among the embodiment two, three has brought many convenience for the manufacturing and the control of this virtual-shaft machine tool, applicable to different use occasions.
Compared with the prior art the present invention has following relatively more outstanding advantage and good effect:
1, links by three legs between fixed platform and the moving platform, formed space closed chain mechanism structure in parallel, this mechanism has higher rigidity, can reduce greatly because the mismachining tolerance that causes of lathe stress deformation, thereby guarantee the machining accuracy of lathe effectively.Under the situation that guarantees same stiffness, the weight of lathe also will greatly alleviate.
2, space closed chain mechanism in parallel has not only limited the extra dof of motion platform, has strengthened the rigidity of lathe, and makes the A of motion platform, B corner independently of one another, has made things convenient for heat affecting calibration, error compensation and control.
3, cutting force is shared by three legs, add the moving platform upper link point triangular layout intrinsic stability, make this structure have good seismic resistance and cutting stability.
4, moving platform flexibility of the present invention is good, can obtain bigger attitude angle, can realize high inclination-angle processing, can satisfy the processing request to complex-curved workpiece, makes that lathe applicable surface of the present invention is wider, and working ability is stronger.
5, the motion of vertical and horizontal reciprocating feed is separated from the motion of closed chain mechanism in parallel, closed chain mechanism in parallel is only realized the displacement of the attitude and the Z direction of cutter, and the displacement of X, Y direction is realized by two-way travelling table.Therefore, expand the working space of lathe, be fit to the machining large workpiece, made lathe handiness, clamping flexible simultaneously.
6, the design of the center of moving platform is useful on the cavity that spindle motor is installed, and has reduced the quality of moving platform, helps improving the dynamic property of moving platform.
7, owing to Hooke's hinge, ball pivot all are easy to make, can reach the very high accuracy of manufacture, thereby guarantee the assembly precision of lathe effectively.Added that the two legs structure is identical, the one leg that an end and fixed platform connect firmly is with this two legs structural similarity, and the structure of moving platform is also simpler, has brought convenience therefore for the processing and manufacturing of this lathe, installation, is convenient to the specialized production of standardization.
8, because the workbench of this virtual-shaft machine tool can adopt the workbench of traditional Digit Control Machine Tool, reduce design and manufacture cost, be convenient to rapid industrialization.
9, virtual-shaft machine tool of the present invention compare with the virtual-shaft machine tool of 6-SPS type not only simple in structure, folding dress convenient, volume is little, in light weight, processing technology is good, seismic resistance and cutting stability well outside, have also that position normal solution analysis is easy, amount of calculation is little, require low to element manufacturing and control accuracy, carry out deep theory analysis and Optimal Structure Designing easily, advantages such as numerical control programming is convenient, by the CAD/CAM system of further exploitation, can make the application of this virtual-shaft machine tool more convenient towards this type of virtual-shaft machine tool.
The present invention also has more otherwise advantages.
Version of the present invention is not limited to the described form of the foregoing description.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01107247 CN1116959C (en) | 2001-03-15 | 2001-03-15 | New-type mixed-coupled five-freedom virtual shaft machine tool |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01107247 CN1116959C (en) | 2001-03-15 | 2001-03-15 | New-type mixed-coupled five-freedom virtual shaft machine tool |
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| CN1375379A CN1375379A (en) | 2002-10-23 |
| CN1116959C true CN1116959C (en) | 2003-08-06 |
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| CN 01107247 Expired - Fee Related CN1116959C (en) | 2001-03-15 | 2001-03-15 | New-type mixed-coupled five-freedom virtual shaft machine tool |
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| CN100345665C (en) * | 2003-12-25 | 2007-10-31 | 电子科技大学 | Precisely micro-operated robot structure |
| CN100571652C (en) * | 2006-04-12 | 2009-12-23 | 四川大学 | Dentognathic model measurer with parallel laser mechanism |
| CN100436058C (en) * | 2006-11-24 | 2008-11-26 | 哈尔滨工业大学 | Five-axis linkage and series CNC polishing machine tool |
| CN101797723B (en) * | 2010-03-25 | 2012-09-05 | 淮阴工学院 | Angle adjustment mechanism for water cutter head |
| CN102211329A (en) * | 2011-06-02 | 2011-10-12 | 常州大学 | Five-degree-of-freedom spatial series-parallel operating platform |
| CN103143940B (en) * | 2013-02-28 | 2014-12-24 | 清华大学 | Passive gravity compensation branched chain of spatial parallel mechanism |
| CN103639712B (en) * | 2013-11-25 | 2016-04-27 | 浙江理工大学 | A kind of three rotation spherical parallel institutions |
| CN104308696B (en) * | 2014-10-15 | 2017-02-22 | 山东济钢合金材料科技有限公司 | Special grinding machine for workpiece tank bottom |
| CN104344987B (en) * | 2014-10-16 | 2017-02-08 | 北京航空航天大学 | Pulling, bending and twisting material loading testing machine |
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| CN106994642B (en) * | 2016-01-22 | 2019-11-22 | 香港理工大学 | Hybrid polishing machine |
| CN108613799B (en) * | 2018-04-10 | 2020-09-22 | 清华大学 | Multidimensional loading mechanism for simulating machine tool cutting |
| CN108325456B (en) * | 2018-05-07 | 2023-06-20 | 安徽理工大学 | Five-degree-of-freedom series-parallel oscillation shaking device |
| CN110625406A (en) * | 2019-10-21 | 2019-12-31 | 浙江交通职业技术学院 | A Redundant Drive AC Type High Speed Machining Hybrid Five-Axis Machine Tool |
| CN112987769B (en) * | 2021-02-22 | 2022-07-05 | 武汉科技大学 | Active leg adjusting method for stable transition of quadruped robot in variable-rigidity terrain |
| CN114523464B (en) * | 2022-03-07 | 2024-12-10 | 深圳万知达信息咨询有限公司 | A five-degree-of-freedom serial-parallel hybrid robot |
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