CA2349579C - Articulated tool head - Google Patents
Articulated tool head Download PDFInfo
- Publication number
- CA2349579C CA2349579C CA002349579A CA2349579A CA2349579C CA 2349579 C CA2349579 C CA 2349579C CA 002349579 A CA002349579 A CA 002349579A CA 2349579 A CA2349579 A CA 2349579A CA 2349579 C CA2349579 C CA 2349579C
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- axis
- carriages
- platform
- tool
- rails
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- Expired - Lifetime
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- 238000003801 milling Methods 0.000 claims description 15
- 239000005068 cooling lubricant Substances 0.000 claims description 8
- 230000003134 recirculating effect Effects 0.000 claims description 4
- 241000238631 Hexapoda Species 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 4
- 102000004315 Forkhead Transcription Factors Human genes 0.000 description 3
- 108090000852 Forkhead Transcription Factors Proteins 0.000 description 3
- 238000005553 drilling Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241000272165 Charadriidae Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 239000008186 active pharmaceutical agent Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910001092 metal group alloy Inorganic materials 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
- B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
- B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Machine Tool Units (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
- Pharmaceuticals Containing Other Organic And Inorganic Compounds (AREA)
- Surgical Instruments (AREA)
Abstract
A universal-joint tool head, having a tool platform which can move in three axes, at least three connecting rods which are articulatedly mounted on the tool platform and can be displaced independently of one another, at least three linear-movement drives, which are arranged around and at a distance from the tool platform and are parallel to one another, for the connecting rods articulatedly mounted thereon, the connecting rods being articulatedly mounted on the tool platform in such a manner that they can move on all sides and on the linear-movement drives in such a manner that they can pivot about pins running perpendicular to the direction of movement of the linear-movement drives.
Description
"Universal-joint tool head"
The invention relates to a universal-joint tool head as a unit which may form part of various milling-machine designs and is set up to move in the linear axes X, Y, Z.
There are various types of milling machines with milling-head units with two continuously movable axles, for example milling-head units with an angle-pin head or with a fork head. DE 34 07 679 C1 has described a horizontal drilling and milling unit with a spindle head which can pivot about a pin which is inclined at 45° to the horizontal, can be locked in the horizontal and vertical working positions of the drilling spindle sleeve with a supporting housing and in which the spindle sleeve can be driven by means of a bevel gear mechanism.
Furthermore, US 3,483,796 A has described a milling-head unit with a fork head, in which the fork head is allowed to pivot through up to 90° and to rotate about a pin which is perpendicular thereto. In these known milling-head units, the milling cutter spindle is driven through a spindle bar which can be adjusted in the X, Y and Z directions by means of intermediate gears which are responsible for the pivotability of the spindle head and the drive in each angular position.
Servomotors effect the adjustment in the X, Y and Z
directions. The supply of cooling lubricant and power to the spindle takes place via rotary leadthroughs, and the measurement-system signals are transmitted via slip rings.
The housing components are generally made from steel. The spindle bar is mounted either hydrostatically or by means of rolling-contact bearings. These known milling-head units take up large amounts of space, have a high mass and problems with sealing the supply of cooling lubricant to the spindle. The known systems are difficult to assemble, the manufacturing costs are high and the maintenance outlay is considerable.
The reference book "Werkzeugmaschinen" [Machine tools] by Manfred Beck, Springer-Verlag 1998, pages 203 to 209, describes more recent machine tool designs based on the HEXAPOD principle, operating or. the basis of a bar mechanism.
One of the machines described has six stilts, the length of which cannot be changed and of which in each case two can be displaced vertically on a frame which has three stands. The tool unit is manipulated through displacement of the points where the bars are articulatedly attached to the frame. The rigid bars are mounted by means of ball and cardan joints in the drive carriages which are vertically displaceable on the frame and in which the primary parts of linear drives are integrated. In each case two primary parts which can be displaced independently of one another make use of a common t.
secondary part.
w Translation of amended pages 2 and 2a of disclosure as well as amended claim 1 of new Canadian Patent Application National Entry of PCT/EP99/07960 DS TECHNOLOGIE WERKZEUGMASCHINENBAU GMBH
Title: ARTICULATED TOOL HEAD
Your file: 5092-14CA RM/BS
The points where the bars are articulatedly mounted on the tool unit are designed in such a way that in each case three bars engage on the front area and three on the rear area of the tool unit .
Owing to the arrangement of the tool unit on three pairs of bars, control requires six degrees of freedom, even though only five degrees of freedom are required to machine workpieces on all sides by means of a milling head. For this reason, control outlay unnecessarily high. Furthermore, the arrangement of the tool unit on bars which can be displaced by means of carriages on vertical stands limits the possible working space. However, compared to conventional milling-machine designs, the HEXAPOD principle has the advantage of a compact design for the tool unit with a low mass, so that rapid accelerations are possible. Furthermore, the HEXAPOD
design provides a high level of system strength.
The invention is based on the problem of avoiding the drawbacks of the known milling-machine designs with milling-head units, making use of the advantages of the HEXAPOD principle and improving this principle in such a way that, by dint of the reduced requirements in terms of components and space, the omission of additional gear components and rotary leadthroughs and the reduction in the number of components, it is possible to reduce the construction and maintenance outlay and the moving masses, so that higher accele-rations of the driven shafts and a lower outlay on control engineering can be achieved.
The invention relates to a universal-joint tool head as a unit which may form part of various milling-machine designs and is set up to move in the linear axes X, Y, Z.
There are various types of milling machines with milling-head units with two continuously movable axles, for example milling-head units with an angle-pin head or with a fork head. DE 34 07 679 C1 has described a horizontal drilling and milling unit with a spindle head which can pivot about a pin which is inclined at 45° to the horizontal, can be locked in the horizontal and vertical working positions of the drilling spindle sleeve with a supporting housing and in which the spindle sleeve can be driven by means of a bevel gear mechanism.
Furthermore, US 3,483,796 A has described a milling-head unit with a fork head, in which the fork head is allowed to pivot through up to 90° and to rotate about a pin which is perpendicular thereto. In these known milling-head units, the milling cutter spindle is driven through a spindle bar which can be adjusted in the X, Y and Z directions by means of intermediate gears which are responsible for the pivotability of the spindle head and the drive in each angular position.
Servomotors effect the adjustment in the X, Y and Z
directions. The supply of cooling lubricant and power to the spindle takes place via rotary leadthroughs, and the measurement-system signals are transmitted via slip rings.
The housing components are generally made from steel. The spindle bar is mounted either hydrostatically or by means of rolling-contact bearings. These known milling-head units take up large amounts of space, have a high mass and problems with sealing the supply of cooling lubricant to the spindle. The known systems are difficult to assemble, the manufacturing costs are high and the maintenance outlay is considerable.
The reference book "Werkzeugmaschinen" [Machine tools] by Manfred Beck, Springer-Verlag 1998, pages 203 to 209, describes more recent machine tool designs based on the HEXAPOD principle, operating or. the basis of a bar mechanism.
One of the machines described has six stilts, the length of which cannot be changed and of which in each case two can be displaced vertically on a frame which has three stands. The tool unit is manipulated through displacement of the points where the bars are articulatedly attached to the frame. The rigid bars are mounted by means of ball and cardan joints in the drive carriages which are vertically displaceable on the frame and in which the primary parts of linear drives are integrated. In each case two primary parts which can be displaced independently of one another make use of a common t.
secondary part.
w Translation of amended pages 2 and 2a of disclosure as well as amended claim 1 of new Canadian Patent Application National Entry of PCT/EP99/07960 DS TECHNOLOGIE WERKZEUGMASCHINENBAU GMBH
Title: ARTICULATED TOOL HEAD
Your file: 5092-14CA RM/BS
The points where the bars are articulatedly mounted on the tool unit are designed in such a way that in each case three bars engage on the front area and three on the rear area of the tool unit .
Owing to the arrangement of the tool unit on three pairs of bars, control requires six degrees of freedom, even though only five degrees of freedom are required to machine workpieces on all sides by means of a milling head. For this reason, control outlay unnecessarily high. Furthermore, the arrangement of the tool unit on bars which can be displaced by means of carriages on vertical stands limits the possible working space. However, compared to conventional milling-machine designs, the HEXAPOD principle has the advantage of a compact design for the tool unit with a low mass, so that rapid accelerations are possible. Furthermore, the HEXAPOD
design provides a high level of system strength.
The invention is based on the problem of avoiding the drawbacks of the known milling-machine designs with milling-head units, making use of the advantages of the HEXAPOD principle and improving this principle in such a way that, by dint of the reduced requirements in terms of components and space, the omission of additional gear components and rotary leadthroughs and the reduction in the number of components, it is possible to reduce the construction and maintenance outlay and the moving masses, so that higher accele-rations of the driven shafts and a lower outlay on control engineering can be achieved.
the tool unit on three pairs of bars, control requires six degrees of freedom, even though only five degrees of freedom are required to machine workpieces on all sides by means of a milling head. For this reason, control outlay is unnecessarily high. Furthermore, the arrangement of the tool unit on bars which can be displaced by means of carriages on vertical stands limits the possible working space. However, compared to conventional milling-machine designs, the HEXAPOD
principle has the advantage of a compact design for the tool unit with a low mass, so that rapid accelerations are possible. Furthermore, the HEXAPOD design provides a high level of system strength.
The invention is based on the problem of avoiding the drawbacks of the known milling-machine designs with milling-head units, making use of the advantages of the HEXAPOD
principle and improving this principle in such a way that, by dint of the reduced requirements in terms of components and space, the omission of additional gear components and rotary leadthroughs and the reduction in the number of components, it is possible to reduce the construction and maintenance outlay and the moving masses, so that higher accelerations of the driven shafts and a lower outlay on control engineering can be achieved.
i CA 02349579 2001-04-19 Amended paragraph starting at bottom of page 3 of supplied translation after "...can be achieved" and finishing before the start of the next paragraph "Since the tool platform ...":
Working on the basis of this problem, an articulated tool head is proposed with a tool platform which can be moved in three axes, that is, two pivot axes A, C and one linear axis Z, three guide-ways, parallel to one another and to the linear axis Z, arranged at fixed circumferential distance around the tool platform and in the same direction, three carriages which can be moved independently of each other and parallel to the guideways by means of linear motion drives for the movement of the tool platform in the three axes A, C, Z, and three guides hinged to the carriages, pivotable around axes perpendicular to the direction of movement of the carriages (one degree of freedom) and hinged pivotable in all directions (three degrees of freedom) to the tool platform.
Since the tool platform is mounted on connecting rods which can be displaced independently of and parallel to one another, it is possible to provide direct drives both for a motor spindle and for the pivot axes and the linear axis, and the lines for supplying cooling lubricant and power can be connected directly to the tool platform or to a motor spindle or to a milling-cutter spindle support or to a milling-cutter spindle drive without using rotary leadthroughs.
vu a..c~ vuv r , vu r . . . . .
~~~T: . . . . .I, articulatedly mounted on the tool platform and can be displaced independently of and parallel to one another, least three linear-movement drives, which are arrang at a distance from and around the tool platform and ar parallel to one another, for the connecting rods which re articulatedly mounted thereon, the connect' g rods being articulatedly mounted on the tool plat rm in such a manner that they can move on all sides and eing articulatedly mounted on the linear-movement ives in such a manner that they can pivot about pins ru ing perpendicular to the direction of movement.
Since the too platform is mounted on connecting rods which can be displ ced independently of and parallel to one another, it is ossible to provide direct drives both for a motor spin a and for the pivot axes and the linear axis, and the lin for supplying cooling lubricant and power can be conn cted directly to the tool platform or to a motor spindle to a milling-cutter spindle support or to a milling-cutter Advantageously, a motor spindle with a mount for an angle head which can be exchanged automatically from a tool magazine and can rotate in a controlled manner about the axis of the motor spindle may be arranged on the tool platform.
Angle heads of this nature can be used to drill holes in different angular positions.
principle has the advantage of a compact design for the tool unit with a low mass, so that rapid accelerations are possible. Furthermore, the HEXAPOD design provides a high level of system strength.
The invention is based on the problem of avoiding the drawbacks of the known milling-machine designs with milling-head units, making use of the advantages of the HEXAPOD
principle and improving this principle in such a way that, by dint of the reduced requirements in terms of components and space, the omission of additional gear components and rotary leadthroughs and the reduction in the number of components, it is possible to reduce the construction and maintenance outlay and the moving masses, so that higher accelerations of the driven shafts and a lower outlay on control engineering can be achieved.
i CA 02349579 2001-04-19 Amended paragraph starting at bottom of page 3 of supplied translation after "...can be achieved" and finishing before the start of the next paragraph "Since the tool platform ...":
Working on the basis of this problem, an articulated tool head is proposed with a tool platform which can be moved in three axes, that is, two pivot axes A, C and one linear axis Z, three guide-ways, parallel to one another and to the linear axis Z, arranged at fixed circumferential distance around the tool platform and in the same direction, three carriages which can be moved independently of each other and parallel to the guideways by means of linear motion drives for the movement of the tool platform in the three axes A, C, Z, and three guides hinged to the carriages, pivotable around axes perpendicular to the direction of movement of the carriages (one degree of freedom) and hinged pivotable in all directions (three degrees of freedom) to the tool platform.
Since the tool platform is mounted on connecting rods which can be displaced independently of and parallel to one another, it is possible to provide direct drives both for a motor spindle and for the pivot axes and the linear axis, and the lines for supplying cooling lubricant and power can be connected directly to the tool platform or to a motor spindle or to a milling-cutter spindle support or to a milling-cutter spindle drive without using rotary leadthroughs.
vu a..c~ vuv r , vu r . . . . .
~~~T: . . . . .I, articulatedly mounted on the tool platform and can be displaced independently of and parallel to one another, least three linear-movement drives, which are arrang at a distance from and around the tool platform and ar parallel to one another, for the connecting rods which re articulatedly mounted thereon, the connect' g rods being articulatedly mounted on the tool plat rm in such a manner that they can move on all sides and eing articulatedly mounted on the linear-movement ives in such a manner that they can pivot about pins ru ing perpendicular to the direction of movement.
Since the too platform is mounted on connecting rods which can be displ ced independently of and parallel to one another, it is ossible to provide direct drives both for a motor spin a and for the pivot axes and the linear axis, and the lin for supplying cooling lubricant and power can be conn cted directly to the tool platform or to a motor spindle to a milling-cutter spindle support or to a milling-cutter Advantageously, a motor spindle with a mount for an angle head which can be exchanged automatically from a tool magazine and can rotate in a controlled manner about the axis of the motor spindle may be arranged on the tool platform.
Angle heads of this nature can be used to drill holes in different angular positions.
Preferably, the linear-movement drives may be attached to the inner surface of a tubular housing in such a way that they are parallel to one another and to the axis of the housing; the connecting rods may be designed as A-frame arms and their tips may be articulatedly mounted on the tool platform in such a manner that they can move on all sides, while their bases may be articulatedly mounted on the linear-movement drives in such a manner that they can pivot about pins running perpendicular to the direction of movement of the linear-movement drives.
If the tubular housing is arranged in a spindle bar or is desigr_ed as a spindle bar and car. be displaced in the axial direction, and the spindle bar is arranged on a vertically adjustable carriage which is guided on a stand, the stand and the workpiece being displaceable relative to one another, very large workpieces can be machined in the same way as with a conventional milling machine, but more quickly and with greater accuracy.
In detail, the connecting rods may be designed so a~
to initially run substantially obliquely in the radial direction and then, having been bent off through an angle, to run approximately parallel to the linear-movement drives, so that their pivot pins on the linear-movement drives are offset with respect to the articulation points on the tool platform.
If the tubular housing is arranged in a spindle bar or is desigr_ed as a spindle bar and car. be displaced in the axial direction, and the spindle bar is arranged on a vertically adjustable carriage which is guided on a stand, the stand and the workpiece being displaceable relative to one another, very large workpieces can be machined in the same way as with a conventional milling machine, but more quickly and with greater accuracy.
In detail, the connecting rods may be designed so a~
to initially run substantially obliquely in the radial direction and then, having been bent off through an angle, to run approximately parallel to the linear-movement drives, so that their pivot pins on the linear-movement drives are offset with respect to the articulation points on the tool platform.
Play-free guidance and movement control of the connecting rods is achieved if the linear-movement drives have linear direct drives or recirculating ball screw drives which are moved by servomotors.
A CNC control unit for the linear-movement drives effects the tilting of the motor milling-cutter spindle about the two pivot axes and the movement in the direction of the third linear axis, and position indicators for the connecting rods, which interact with the CNC control unit, may be integrated in the linear-movement drives.
The measurement systems which are required for the machine control ur_it to measure the rotation angles about the pivot axes and the displacement travel in the direction of the linear axis, can be integrated in the linear-movement drives, either as a result of suitable encoders being integrated in the corresponding drives or tree drives themselves being designed as distance or rotation-angle indicators.
As a result of the tool platform being suspended from the connecting rods, the lines for the supply of cooling lubricant and power can be directly connected to the tool platform without using rotary leadthroughs and can be coupled to automatically changeable motor spindles or machining heads.
The novel design of the universal-joint tool head with the tool platform mounted on connecting rods which can 7 _ be displaced independently and in parallel in the linear axis results in a reduced need for space in this direction, since there is no need for any additional gear components between the universal-joint tool head and the spindle bar. As a result, it is also possible to reduce the number of components, and the fact that rotary leadthroughs are no longer required means that a higher level of reliability and an improved seal is achieved for the supply of cooling lubricant and power. If, in addition, the housings and/or housing parts consist of a light metal alloy, of a titanium alloy and/or of foamed metal, the moving masses can be reduced still further, so that both higher accelerations in the X, Y and Z directions and higher accelerations about the pivot axes are possible, since the use of low-mass servomotors eliminates the limitations which are present in the known milling-head units.
The invention is explained in more detail below with reference to an exemplary embodiment illustrated in the drawings, in which:
Fig. 1 shows a perspective, partially cut-away view of a universal-joint tool head, and Fig. 2 shows a side view of an angle head which can be fitted to a motor spindle.
Ot a machine tool, only the universal-joint tool head according to the invention is illustrated in a perspective view. A tubular housing 1, which may be arranged in a horizontal or vertical spindle bar or may be designed as a spindle bar and may be movable in the X, Y and Z directions, bears three linear-movement units on its inner surface 2, spaced apart from one another at regular intervals over the circumference, which units comprise carriages 3 which can be moved without play on guides 4, which are attached to baseplates 7, by means of a recirculating ball screw drive 5 and, for this purposes, are driven by servomotors 6.
Linear direct drives can also be used instead of the recirculating ball screw drives 5 and the servomotors 6.
Connecting rods which can pivot with one degree of freedom about pivot pins 10 and comprise a connecting-arm part 8 running substantially in the Z direction and a connecting-rod part 9 running substantially radially with respect thereto are mounted pivotally on the carriages 3. The connecting rods 8, 9 are designed as A-frame arms, the pivot pin 10 running through their bases perpendicular to the direction of movement of the carriages 3 and therefore to the Z axis, while in the region of their tips universal joints 11 which can move on all sides and have three degrees of freedom, for example ball joints, are provided, connected to a tool platform 12. A motor spindle 13 can be fitted automatically into the tool platform 12. The motor spindle 13 bears a milling tool 14 and is connected, via automatic couplings and plug connectors and via a line 15, to a CNC
control unit 16, which also controls the servomotors 6.
. _ 9 _ The servomotors 6 may have integrated measurement systems, for example independent rotation transducers, or may themselves be designed as rotary transducers, so that signals which are representative of the current position of the carriages 3 are passed to the CNC control unit.
By way of example, if only the bottom carriage 3 is displaced, the motor milling-cutter spindle 13 pivots about the axis C, which runs parallel to the pivot pin 10. As a result of the top carriages 3 being displaced in the opposite direction, the motor milling-cutter spindle 13 pivots about the axis A which is perpendicular to the axis C, while a simulta.~.eous displacement of all three carriages ir. the same direction results in a displacement of the motor milling-cutter spindle 13 in the direction Z. In a similar way, three-dimensional movements of the motor milling-cutter spindle 13 in any desired direction can be brought about by suitably controlling the servomotors 6 by means of the CNC
control unit 16.
The line 15 is used both to supply power to the motor milling-cutter spindle and to supply cooling lubricant, and is directly connected to the housing 12 of the motor milling-cutter spindle 13 without the use of rotary leadthroughs.
A mount 17 for an angle head 19 which can be changed automatically from a tool magazine and can rotate in a controlled manner about the axis of the motor spindle 13 is arranged on the tool platform 12, so that the angle head 19 ., . CA 02349579 2001-04-19 can pivot about the Z axis under NC control. The angle head 19 serves to hold drills 22 for drilling holes at different angles. The angle heads 19 are standard angle heads which are supplied by various manufacturers and therefore do not need to be described in detail. The rotation about the Z axis is effected by means of a rotary drive 21, the torque support for which is provided by a journal 20 engaging in a hole 18 in the mount 17. The angle head 19 is coupled to the motor spindle 13 via a standard tool cone 23 in a standard tool mount of the motor spindle 13.
The universal-joint tool head according to the invention comprises only a few ccmponents, most of which are identical. The universal-joint tool head is of very simple design and can be completely preassembled on a support plate, including the orientation of the linear axes, and is screwed with final adjustment onto a machine tool. Due to the lower masses which have to be moved, extremely high accelerations are possible. Despite the reduced mass, the strength of the a_-rangement is as high as or even higher than that of a conventional milling-head unit on a spindle bar.
A CNC control unit for the linear-movement drives effects the tilting of the motor milling-cutter spindle about the two pivot axes and the movement in the direction of the third linear axis, and position indicators for the connecting rods, which interact with the CNC control unit, may be integrated in the linear-movement drives.
The measurement systems which are required for the machine control ur_it to measure the rotation angles about the pivot axes and the displacement travel in the direction of the linear axis, can be integrated in the linear-movement drives, either as a result of suitable encoders being integrated in the corresponding drives or tree drives themselves being designed as distance or rotation-angle indicators.
As a result of the tool platform being suspended from the connecting rods, the lines for the supply of cooling lubricant and power can be directly connected to the tool platform without using rotary leadthroughs and can be coupled to automatically changeable motor spindles or machining heads.
The novel design of the universal-joint tool head with the tool platform mounted on connecting rods which can 7 _ be displaced independently and in parallel in the linear axis results in a reduced need for space in this direction, since there is no need for any additional gear components between the universal-joint tool head and the spindle bar. As a result, it is also possible to reduce the number of components, and the fact that rotary leadthroughs are no longer required means that a higher level of reliability and an improved seal is achieved for the supply of cooling lubricant and power. If, in addition, the housings and/or housing parts consist of a light metal alloy, of a titanium alloy and/or of foamed metal, the moving masses can be reduced still further, so that both higher accelerations in the X, Y and Z directions and higher accelerations about the pivot axes are possible, since the use of low-mass servomotors eliminates the limitations which are present in the known milling-head units.
The invention is explained in more detail below with reference to an exemplary embodiment illustrated in the drawings, in which:
Fig. 1 shows a perspective, partially cut-away view of a universal-joint tool head, and Fig. 2 shows a side view of an angle head which can be fitted to a motor spindle.
Ot a machine tool, only the universal-joint tool head according to the invention is illustrated in a perspective view. A tubular housing 1, which may be arranged in a horizontal or vertical spindle bar or may be designed as a spindle bar and may be movable in the X, Y and Z directions, bears three linear-movement units on its inner surface 2, spaced apart from one another at regular intervals over the circumference, which units comprise carriages 3 which can be moved without play on guides 4, which are attached to baseplates 7, by means of a recirculating ball screw drive 5 and, for this purposes, are driven by servomotors 6.
Linear direct drives can also be used instead of the recirculating ball screw drives 5 and the servomotors 6.
Connecting rods which can pivot with one degree of freedom about pivot pins 10 and comprise a connecting-arm part 8 running substantially in the Z direction and a connecting-rod part 9 running substantially radially with respect thereto are mounted pivotally on the carriages 3. The connecting rods 8, 9 are designed as A-frame arms, the pivot pin 10 running through their bases perpendicular to the direction of movement of the carriages 3 and therefore to the Z axis, while in the region of their tips universal joints 11 which can move on all sides and have three degrees of freedom, for example ball joints, are provided, connected to a tool platform 12. A motor spindle 13 can be fitted automatically into the tool platform 12. The motor spindle 13 bears a milling tool 14 and is connected, via automatic couplings and plug connectors and via a line 15, to a CNC
control unit 16, which also controls the servomotors 6.
. _ 9 _ The servomotors 6 may have integrated measurement systems, for example independent rotation transducers, or may themselves be designed as rotary transducers, so that signals which are representative of the current position of the carriages 3 are passed to the CNC control unit.
By way of example, if only the bottom carriage 3 is displaced, the motor milling-cutter spindle 13 pivots about the axis C, which runs parallel to the pivot pin 10. As a result of the top carriages 3 being displaced in the opposite direction, the motor milling-cutter spindle 13 pivots about the axis A which is perpendicular to the axis C, while a simulta.~.eous displacement of all three carriages ir. the same direction results in a displacement of the motor milling-cutter spindle 13 in the direction Z. In a similar way, three-dimensional movements of the motor milling-cutter spindle 13 in any desired direction can be brought about by suitably controlling the servomotors 6 by means of the CNC
control unit 16.
The line 15 is used both to supply power to the motor milling-cutter spindle and to supply cooling lubricant, and is directly connected to the housing 12 of the motor milling-cutter spindle 13 without the use of rotary leadthroughs.
A mount 17 for an angle head 19 which can be changed automatically from a tool magazine and can rotate in a controlled manner about the axis of the motor spindle 13 is arranged on the tool platform 12, so that the angle head 19 ., . CA 02349579 2001-04-19 can pivot about the Z axis under NC control. The angle head 19 serves to hold drills 22 for drilling holes at different angles. The angle heads 19 are standard angle heads which are supplied by various manufacturers and therefore do not need to be described in detail. The rotation about the Z axis is effected by means of a rotary drive 21, the torque support for which is provided by a journal 20 engaging in a hole 18 in the mount 17. The angle head 19 is coupled to the motor spindle 13 via a standard tool cone 23 in a standard tool mount of the motor spindle 13.
The universal-joint tool head according to the invention comprises only a few ccmponents, most of which are identical. The universal-joint tool head is of very simple design and can be completely preassembled on a support plate, including the orientation of the linear axes, and is screwed with final adjustment onto a machine tool. Due to the lower masses which have to be moved, extremely high accelerations are possible. Despite the reduced mass, the strength of the a_-rangement is as high as or even higher than that of a conventional milling-head unit on a spindle bar.
Claims (13)
1. A universal-joint tool head, comprising:
a tool platform for supporting a tool which extends in a direction out of the platform, the platform being adapted for movement about three mutually perpendicular axes, two of the axes being axes of rotation of the platform across the direction of extension of the tool, and the third axis being an axis of translation of the platform;
three rails placed at fixed circumferential intervals relative to one another and around the tool platform, each of the three rails extending parallel to each other and to the axis of translation and being axially at the same location along the axis of translation;
three carriages, each of the carriages being supported on and to travel along a respective one of the three rails with motion independent of the other carriages;
and three connecting rods, each rod having a first end and a second end, each of the first ends being pivotally connected to a respective one of the carriages at a pivot axis tangent to a radius perpendicular to the axis of translation, and each of the second ends being connected to the platform so as to enable movement of the connecting rods with respect to the platform in all directions.
a tool platform for supporting a tool which extends in a direction out of the platform, the platform being adapted for movement about three mutually perpendicular axes, two of the axes being axes of rotation of the platform across the direction of extension of the tool, and the third axis being an axis of translation of the platform;
three rails placed at fixed circumferential intervals relative to one another and around the tool platform, each of the three rails extending parallel to each other and to the axis of translation and being axially at the same location along the axis of translation;
three carriages, each of the carriages being supported on and to travel along a respective one of the three rails with motion independent of the other carriages;
and three connecting rods, each rod having a first end and a second end, each of the first ends being pivotally connected to a respective one of the carriages at a pivot axis tangent to a radius perpendicular to the axis of translation, and each of the second ends being connected to the platform so as to enable movement of the connecting rods with respect to the platform in all directions.
2. A universal-joint tool head, comprising:
a tool platform adapted for movement about three mutually perpendicular axes, two of the axes being axes of rotation, and one axis being an axis of translation;
three rails placed at circumferential intervals around the platform, the rails extending parallel to each other and to the axis of translation;
three carriages, each of the carriages being supported on and to travel along a respective one of the three rails with motion independent of the other carriages;
and three connecting rods, each rod having a first end and a second end, each of the first ends being pivotally connected to a respective one of the carriages at a pivot axis tangent to a radius perpendicular to the axis of translation, and each of the second ends being connected to the platform so as to enable movement of the connecting rods with respect to the tool platform in all directions, each connecting rod being an A-frame arm.
a tool platform adapted for movement about three mutually perpendicular axes, two of the axes being axes of rotation, and one axis being an axis of translation;
three rails placed at circumferential intervals around the platform, the rails extending parallel to each other and to the axis of translation;
three carriages, each of the carriages being supported on and to travel along a respective one of the three rails with motion independent of the other carriages;
and three connecting rods, each rod having a first end and a second end, each of the first ends being pivotally connected to a respective one of the carriages at a pivot axis tangent to a radius perpendicular to the axis of translation, and each of the second ends being connected to the platform so as to enable movement of the connecting rods with respect to the tool platform in all directions, each connecting rod being an A-frame arm.
3. The universal-joint tool head as claimed in claim 2, wherein each connecting rod includes:
a first portion extending substantially parallel to the axis of translation from the first end of the connecting rod; and a second portion which extends substantially radially from the first portion to the second end of the connecting rod.
a first portion extending substantially parallel to the axis of translation from the first end of the connecting rod; and a second portion which extends substantially radially from the first portion to the second end of the connecting rod.
4. The universal-joint tool head as claimed in claim 1, wherein each carriage includes a linear direct drive or a recirculating ball screw drive which is actuated by a servomotor so as to move each of the carriages along its respective rail.
5. The universal-joint tool head as claimed in claim 1, further including an NC control unit connected to the carriages for enabling the traveling of the carriages along their respective rails.
6. The universal-joint head as claimed in claim 1, further including a position indicator for each connecting rod, each position indicator being integrated into a respective one of the carriages.
7. The universal-joint tool head as claimed in claim 1, further including:
a motor spindle having a milling tool for milling a workpiece, the motor spindle being arranged on the tool platform such that the motor spindle is moved about the three axes as the tool platform is moved about the three axes, the motor spindle further having an angle head mount;
and an angle head connected to the mount, the angle head holding a plurality of milling tools for milling the workpiece at different angles, the milling tools being exchangeable with the milling tool of the motor spindle.
a motor spindle having a milling tool for milling a workpiece, the motor spindle being arranged on the tool platform such that the motor spindle is moved about the three axes as the tool platform is moved about the three axes, the motor spindle further having an angle head mount;
and an angle head connected to the mount, the angle head holding a plurality of milling tools for milling the workpiece at different angles, the milling tools being exchangeable with the milling tool of the motor spindle.
8. The universal-joint tool head as claimed in any one of claims 1 to 7, further comprising a tubular housing having an inner surface to which the three rails are fixed at corresponding locations spaced angularly from one another at the fixed circumferential intervals, the tubular housing being arranged in a horizontal or vertical spindle bar or designed as a spindle bar and being movable in the X-, Y-and Z-directions.
9. The universal-joint tool head as claimed in claim 7, further including supply lines for cooling lubricant and power, wherein the supply lines ara directly connected to the tool platform without the use of rotary leadthroughs and are adapted to be coupled to the motor spindle.
10. A universal-joint tool head, comprising:
a tubular housing having an inner surface;
a stand arranged to support the tubular housing above a workpiece;
a vertically adjustable carriage guided on the stand so as to vary the vertical distance between the tubular housing and the workpiece;
a tool platform mounted in the housing and displaceable therewith, the tool platform being displaceable in the housing about three mutually perpendicular axes, two of the axes being axes of rotation, and one axis being an axis of translation;
three rails placed at circumferential intervals around the platform, the three rails extending parallel to each other and to the axis of translation;
three carriages, each of the carriages being adapted to travel along a respective one of the three rails;
three connecting rods each having a first end and a second end, each of the first ends being pivotally connected to a respective one of the carriages at an axis tangent to a radius perpendicular to the axis of translation, and each of the second ends being connected to the platform so as to enable movement of the connecting rods with respect to the platform in all direction; and a motor spindle having a milling tool for milling the workpiece, the motor spindle being arranged on the tool platform.
a tubular housing having an inner surface;
a stand arranged to support the tubular housing above a workpiece;
a vertically adjustable carriage guided on the stand so as to vary the vertical distance between the tubular housing and the workpiece;
a tool platform mounted in the housing and displaceable therewith, the tool platform being displaceable in the housing about three mutually perpendicular axes, two of the axes being axes of rotation, and one axis being an axis of translation;
three rails placed at circumferential intervals around the platform, the three rails extending parallel to each other and to the axis of translation;
three carriages, each of the carriages being adapted to travel along a respective one of the three rails;
three connecting rods each having a first end and a second end, each of the first ends being pivotally connected to a respective one of the carriages at an axis tangent to a radius perpendicular to the axis of translation, and each of the second ends being connected to the platform so as to enable movement of the connecting rods with respect to the platform in all direction; and a motor spindle having a milling tool for milling the workpiece, the motor spindle being arranged on the tool platform.
11. A universal-joint tool head, comprising:
a tubular housing arranged in a horizontal or vertical spindle bar or designed as a spindle bar, the tubular housing having an inner surface and the housing being movable in the X-, Y- and Z-directions;
a tool platform adapted for movement about three mutually perpendicular axes, two of the axes being axes of rotation, and the third axis being an axis of translation;
three rails placed at fixed circumferential intervals around the tool platform and mounted to the inner surface of the housing so that the housing and the three rails are coupled to each other in a non-rotational manner, the rails being axially at the same location along the axis of translation and being parallel to each other and to the axis of translation;
three carriages, each of the carriages being displaceable independently along a respective one of the three rails parallel to the axis of translation; and three connecting rods, each of the connecting rods having a first end and a second end, each of the first ends being pivotally connected to a respective one of the carriages at a pivot axis perpendicular to a radius perpendicular to the axis of translation, each of the second ends being connected to the platform so as to enable movement of the connecting rods with respect to the tool platform in all directions.
a tubular housing arranged in a horizontal or vertical spindle bar or designed as a spindle bar, the tubular housing having an inner surface and the housing being movable in the X-, Y- and Z-directions;
a tool platform adapted for movement about three mutually perpendicular axes, two of the axes being axes of rotation, and the third axis being an axis of translation;
three rails placed at fixed circumferential intervals around the tool platform and mounted to the inner surface of the housing so that the housing and the three rails are coupled to each other in a non-rotational manner, the rails being axially at the same location along the axis of translation and being parallel to each other and to the axis of translation;
three carriages, each of the carriages being displaceable independently along a respective one of the three rails parallel to the axis of translation; and three connecting rods, each of the connecting rods having a first end and a second end, each of the first ends being pivotally connected to a respective one of the carriages at a pivot axis perpendicular to a radius perpendicular to the axis of translation, each of the second ends being connected to the platform so as to enable movement of the connecting rods with respect to the tool platform in all directions.
12. A universal-joint tool head, comprising:
a tubular housing having an inner surface centered on a longitudinal housing axis;
a tool platform mounted in the housing and spaced radially inwardly from the inner surface;
three elongated rails fixed to the inner surface of the housing so that the three rails are spaced angularly equidistantly from one another;
three carriages, each of the carriages being displaceable along a respective one of the three rails parallel to the housing axis;
three connecting rods, each of the connecting rods having a first end pivotally connected to a respective carriage at a pivot axis which extends tangent to a radius perpendicular to the housing axis, and a second end connected to the tool platform; and an actuating mechanism for selectively actuating the three carriages so that when each of the carriages is movable along a respective rail parallel to the housing axis, the tool platform is displaceable radially either away or toward the housing axis as the one end of a respective connecting rod pivots about the pivot axis, and when all three carriages are moved, the tool platform is displaceable parallel to the housing axis.
a tubular housing having an inner surface centered on a longitudinal housing axis;
a tool platform mounted in the housing and spaced radially inwardly from the inner surface;
three elongated rails fixed to the inner surface of the housing so that the three rails are spaced angularly equidistantly from one another;
three carriages, each of the carriages being displaceable along a respective one of the three rails parallel to the housing axis;
three connecting rods, each of the connecting rods having a first end pivotally connected to a respective carriage at a pivot axis which extends tangent to a radius perpendicular to the housing axis, and a second end connected to the tool platform; and an actuating mechanism for selectively actuating the three carriages so that when each of the carriages is movable along a respective rail parallel to the housing axis, the tool platform is displaceable radially either away or toward the housing axis as the one end of a respective connecting rod pivots about the pivot axis, and when all three carriages are moved, the tool platform is displaceable parallel to the housing axis.
13. The universal-joint tool head defied in claim 12, wherein the actuating mechanism includes three independent actuators, each of the three independent actuators being connected to a respective one of the three carriages.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19848396.1 | 1998-10-21 | ||
| DE19848396 | 1998-10-21 | ||
| DE19850708.9 | 1998-11-03 | ||
| DE19850708A DE19850708C2 (en) | 1998-11-03 | 1998-11-03 | Milling head unit |
| PCT/EP1999/007960 WO2000025976A2 (en) | 1998-10-21 | 1999-10-20 | Articulated tool head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2349579A1 CA2349579A1 (en) | 2000-05-11 |
| CA2349579C true CA2349579C (en) | 2005-06-07 |
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ID=26049649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002349579A Expired - Lifetime CA2349579C (en) | 1998-10-21 | 1999-10-20 | Articulated tool head |
Country Status (6)
| Country | Link |
|---|---|
| EP (1) | EP1123175B1 (en) |
| AT (1) | ATE240184T1 (en) |
| CA (1) | CA2349579C (en) |
| DE (1) | DE59905578D1 (en) |
| ES (1) | ES2198991T3 (en) |
| WO (1) | WO2000025976A2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111496765A (en) * | 2020-04-28 | 2020-08-07 | 清华大学 | A three-degree-of-freedom parallel mechanism with two rotations and one movement in space |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006039202A1 (en) * | 2006-08-22 | 2008-03-20 | F. Zimmermann Gmbh | Compact milling head unit |
| CZ302911B6 (en) | 2007-10-31 | 2012-01-18 | Cvut V Praze | Device for a body's spherical motion control |
| CN101947736A (en) * | 2010-08-19 | 2011-01-19 | 常州大学 | Three-slider planar parallel connection numerical control operating platform |
| CZ305471B6 (en) | 2014-08-18 | 2015-10-14 | ÄŚVUT v Praze, Fakulta strojnĂ | Device to control spherical motion of bodies |
| CZ306555B6 (en) | 2015-06-22 | 2017-03-08 | ÄŚVUT v Praze, Fakulta strojnĂ | A method of controlling a spherical body motion |
| CZ2018705A3 (en) | 2018-12-17 | 2020-02-26 | České vysoké učenà technické v Praze | Device for controlling the spherical movement of a body |
| DE102019103009A1 (en) * | 2019-02-07 | 2020-08-13 | F. Zimmermann Gmbh | Tool head unit for machining workpieces with three simultaneous rotary axes and machine tool with these |
| CN113385955B (en) * | 2021-07-12 | 2022-09-06 | 江苏开璇智能科技有限公司 | Triple harmonic five-axis series-parallel swing head |
| EP4410475A1 (en) | 2023-02-01 | 2024-08-07 | Klaus-Dieter Klement Verwaltungs GmbH | Machining device for machining workpieces and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4962676A (en) * | 1989-10-12 | 1990-10-16 | The Gillette Company | Two axis transfer device |
| JP3640087B2 (en) * | 1994-11-29 | 2005-04-20 | 豊田工機株式会社 | Machine Tools |
| EP0791438B1 (en) * | 1996-02-07 | 2002-05-29 | Verein Deutscher Werkzeugmaschinenfabriken e.V. (VDW) | Device for moving a body in space |
| DE19611130A1 (en) * | 1996-03-21 | 1997-09-25 | Vdw Verein Deutscher Werkzeugm | Machine tool or toolholder platform orientation system |
| DE19650360A1 (en) * | 1996-10-28 | 1998-05-07 | Wurst Karl Heinz Dr Ing | Drive unit for machine tool |
| JP3002459B2 (en) * | 1997-11-05 | 2000-01-24 | キム ジョンウォン | Multi-step machining center and its parallel mechanism structure |
| DE29803274U1 (en) * | 1998-02-25 | 1998-06-18 | Tönshoff, Hans Kurt, Prof. Dr.-Ing. Dr.-Ing. E.h., 30938 Burgwedel | Device for the spatial positioning of an object, in particular a tool |
| DE29818719U1 (en) * | 1998-10-21 | 1998-12-24 | Roschiwal + Partner Ingenieur Gmbh, 86179 Augsburg | Articulated tool head |
| US6048143A (en) * | 1999-01-30 | 2000-04-11 | Industrial Technology Research Institute | Composite mechanism multi-axis machine tool |
-
1999
- 1999-10-20 ES ES99969214T patent/ES2198991T3/en not_active Expired - Lifetime
- 1999-10-20 CA CA002349579A patent/CA2349579C/en not_active Expired - Lifetime
- 1999-10-20 AT AT99969214T patent/ATE240184T1/en active
- 1999-10-20 WO PCT/EP1999/007960 patent/WO2000025976A2/en not_active Ceased
- 1999-10-20 EP EP99969214A patent/EP1123175B1/en not_active Expired - Lifetime
- 1999-10-20 DE DE59905578T patent/DE59905578D1/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111496765A (en) * | 2020-04-28 | 2020-08-07 | 清华大学 | A three-degree-of-freedom parallel mechanism with two rotations and one movement in space |
Also Published As
| Publication number | Publication date |
|---|---|
| CA2349579A1 (en) | 2000-05-11 |
| EP1123175B1 (en) | 2003-05-14 |
| ATE240184T1 (en) | 2003-05-15 |
| DE59905578D1 (en) | 2003-06-18 |
| WO2000025976A2 (en) | 2000-05-11 |
| EP1123175A2 (en) | 2001-08-16 |
| ES2198991T3 (en) | 2004-02-01 |
| WO2000025976A3 (en) | 2000-09-14 |
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| Date | Code | Title | Description |
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| EEER | Examination request | ||
| MKEX | Expiry |
Effective date: 20191021 |