CN1158164C - Two dimension moving three dimension rotating virtual shaft machine tool - Google Patents
Two dimension moving three dimension rotating virtual shaft machine tool Download PDFInfo
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- CN1158164C CN1158164C CNB01128904XA CN01128904A CN1158164C CN 1158164 C CN1158164 C CN 1158164C CN B01128904X A CNB01128904X A CN B01128904XA CN 01128904 A CN01128904 A CN 01128904A CN 1158164 C CN1158164 C CN 1158164C
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Abstract
The present invention belongs to the technical field of machine manufacturing. The present invention comprises a fixed platform, a movable platform for installing a cutting tool and a worktable capable of moving a cut workpiece in a single direction, wherein the fixed platform is connected with the movable platform by five legs containing moving pairs, and one leg comprises two moving pairs and a spherical hinge. One of the two moving pairs is connected with the fixed platform, and the leg is connected with the movable platform by the spherical hinge. Other four legs are connected with the fixed platform by Hooke hinges and are connected with the movable platform by spherical hinges. The position and the attitude of the cutting tool on the movable platform can be realized by altering the telescoping amount of the five legs and the cooperation of the worktable moving in a single direction to realize five-shaft linkage machining. The present invention has the advantages of simple structure, easy fabrication, low cost, good machining manufacturability, good structural shock resistance, high cutting stability, high machining precision, flexible operation of the cutting tool, possible realization of machining with great inclination angles, easy numerical control programming, etc.
Description
One, technical field
The invention belongs to Digit Control Machine Tool manufacturing technology field, particularly relate to a kind of New Virtual Shaft and NC Machining Test machine tool structure design.
Two, technical background
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, make lathe produce distortion, vibrations under the acting in conjunction of pulling force, pressure, moment of flexure, moment of torsion, add that error accumulation causes the reduction of machining accuracy.Because the heavy volume of parts is big, limited the raising of process medium velocity and acceleration in addition.
Existing is the virtual-shaft machine tool of prototype with the 6-SPS parallel institution, owing to connected by six retractable legs between pedestal and the main shaft moving platform, determines 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, numerical control programming is complicated and difficulty and each leg between shortcoming such as interfere easily.Therefore, the existing virtual-shaft machine tool part that not too is fit to machining large, has complex-curved type.
Three, summary of the invention
The virtual-shaft machine tool of the present invention's design has been used for reference the advantage of traditional Digit Control Machine Tool and existing virtual-shaft machine tool, overcome the deficiencies in the prior art part, cascaded structure and parallel-connection structure are organically blended, 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, the control programming is easy, can satisfy the user the large-scale requirement that includes the multi-axis linkage numerical control processing of complex-curved class part.
The virtual-shaft machine tool structure of the present invention's design, comprise frame, be installed with the fixed platform on frame, the moving platform of cutting tool is installed, can drive and be cut the unidirectional mobile workbench of workpiece, link by five telescopic legs between fixed platform and the moving platform, article five, leg all designs the moving sets of being furnished with drive unit, wherein the one leg design has two moving sets and a ball pivot, moving sets and fixed platform in two moving sets link, described ball pivot and moving platform link, other four legs have all designed an interior moving sets, link by a kind of and fixed platform in Hooke's hinge and the ball pivot, link by ball pivot and moving platform, stroke by changing five legs and with the cooperating of unidirectional travelling table, can control position and attitude that moving platform is fixed a cutting tool, said unidirectional travelling table is structurally separate with the closed chain mechanism in parallel that five legs form, and carries out interlock control in control.
Foregoing invention purpose of the present invention also can be achieved through the following technical solutions:
This technical method place different with technique scheme is, design has four legs of a moving sets to constitute by connecting-rods with constant lengh and an outer moving sets, said outer moving sets is by being arranged on guide rail on the frame, leading screw and constituting with the nut slider of guide rail and leading screw phase configuration, connecting-rods with constant lengh one end links by Hooke's hinge and nut, and the other end links by ball pivot and moving platform.Stroke by changing five legs and with the cooperating of unidirectional travelling table, can control position and attitude that moving platform is fixed a cutting tool, said unidirectional travelling table is structurally separate with the closed chain mechanism in parallel that five legs form, and carries out interlock control in control.
In order to realize the foregoing invention purpose better, also can further take following technical measures:
Above-mentioned design has one of two moving sets to connect leg, and one of them moving sets is furnished with drive unit, and another moving sets is the servo-actuated moving sets.The moving sets that to be furnished with drive unit is designed to outer moving sets, links by this moving sets and fixed platform.
Above-mentioned five drive units that connect in the legs can be a kind of in the drive unit of hydraulic jack drive unit and servomotor and turn-screw nut formation.
Above-mentioned said moving platform, its center design is useful on the cavity that main shaft driving device (15) is installed.
Above-mentioned said unidirectional travelling table, its motion is made up of servomotor, guide rail, ball-screw, ball nut etc., can drive and be cut workpiece along the Y direction translation.
The present invention has following advantage and effect:
1, links by five legs between fixed platform and the moving platform, formed space closed linkage in parallel, this frame structure 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, cutting force is shared by five legs, add the moving platform upper link point layout intrinsic stability, make this structure have good seismic resistance and cutting stability.
3, the flexibility of this structure moving platform is good, can obtain bigger attitude angle, can realize high inclination-angle processing.Make that this lathe applicable surface is wider, working ability is stronger.
4, the motion of 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 of cutter and X, Z direction, and the displacement of Y direction is realized by unidirectional travelling table.Therefore, expand the working space of lathe, made lathe handiness, clamping flexible simultaneously.
5, 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.
6, because moving sets, Hooke's hinge and 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 four leg structures are identical, 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.
7, virtual-shaft machine tool of the present invention compare with the virtual-shaft machine tool of 6-SPS type have working space big, can realize advantages such as high inclination-angle processing and numerical control programming be easy, brought many convenience therefore for the use of this virtual-shaft machine tool.
8, because the workbench of this virtual-shaft machine tool can adopt the workbench of traditional Digit Control Machine Tool, so the manufacturing of this virtual-shaft machine tool can realize by the transformation to traditional Digit Control Machine Tool, can reduce manufacturing cost, is convenient to rapid industrialization.
In sum, principal character of the present invention is embodied in: closed chain frame structure in parallel, structural seismic, cutting be stable, can realize high inclination-angle processing, flexibility is good, simple in structure, easy to manufacture, control is convenient, numerical control programming easily, can be to eight aspects such as existing numerical control machine tool technique transformation realizations.
The prototype of virtual-shaft machine tool of the present invention is a space parallel mechanism, prototype than at present popular virtual-shaft machine tool, be that 6-SPS mechanism is structurally simple, carry out deep theory analysis, Optimal Structure Designing easily, brought many convenience also for the numerical control programming of lathe, further can develop CAD/CAM system, for the application of this virtual-shaft machine tool offers convenience towards this type of virtual-shaft machine tool.
Four, description of drawings
Brief Description Of Drawings:
Accompanying drawing 1 is a structural principle schematic diagram of the present invention.
Accompanying drawing 2 is the general structure schematic diagram of the 1st embodiment of the present invention.
Accompanying drawing 3 is the general structure schematic diagram of the 2nd embodiment of the present invention.
Accompanying drawing 4 connects the servo-actuated moving sets in the leg (10) and the structural representation of ball pivot for the present invention.
Accompanying drawing 5 be among Fig. 4 A-A to the section structure schematic diagram.
Accompanying drawing 6 is the outer moving sets sectional structure schematic diagram that links with fixed platform.
Accompanying drawing 7 is that B-B in the accompanying drawing 6 is to the section structure schematic diagram.
Accompanying drawing 8 is the vertical view of the moving sets in the accompanying drawing 6.
Accompanying drawing 9 is for containing the outline drawing of the connection leg 9 of a moving sets among Fig. 2.
Accompanying drawing 10 be among Fig. 9 C-C to the section structure schematic diagram.
Five, the specific embodiment
Below in conjunction with accompanying drawing, introduce 2 structure and operation principles of the present invention in detail based on the virtual-shaft machine tool embodiment of five-freedom parallel structure.
Experimental example 1:
The principle of embodiment 1 as shown in Figure 1, general structure is as shown in Figure 2.The virtual-shaft machine tool of present embodiment by frame 6, be installed with fixed platform 7 on frame, install cutting tool moving platform 11, can drive the workbench 12 that workpiece moves along the Y direction, and two ends are connecting fixed platform and moving platform 5 respectively and are connecting the leg formation.Article 5, connect leg and constitute space closed linkage in parallel with moving platform and fixed platform.Wherein connecting leg 10 design has two moving sets, and one of them moving sets is outer moving sets 4, and as drive unit, member and fixed platform 7 by this moving sets link by servomotor 8.This connects under leg effect of moving sets 4 outside, can carry out along directions X translation and stretching motion.The another one moving sets is a moving sets in the servo-actuated, and this leg and moving platform 11 link by ball pivot.The identical connection leg of other four structures 9 and fixed platform 7 link by Hooke's hinge, link by ball pivot with moving platform 11, and these 4 legs have all designed a moving sets, and this moving sets is an interior moving sets of being furnished with drive unit, stretching motion under the effect of moving sets.The workbench 12 that moves along the Y direction with workpiece is placed in the bottom of frame 6, drives motion by servomotor 13, spin feed screw nut transmission mechanism.Cutting tool is made cutting movement under the driving of servomotor 15 and transmission main shaft.Change the stroke of 5 legs, the cutter on the moving platform can be realized different spatial and attitude.Space closed chain frame structure in parallel add the moving platform upper link point layout intrinsic stability, make this structure have favorable rigidity, seismic resistance and cutting stability.
One that contains two moving sets connects leg 10, the structure of its leg body portion is shown in accompanying drawing 4 and accompanying drawing 5, by the ball pivot 3, the cylinder block 21 that link with moving platform, constitute with slide-bar 22 that can scalable slip in cylinder body 21, hinge ball 3 is installed with the end at cylinder block 21, and the outer end design of slide-bar 22 has and outer moving sets 4 joining structures.Cylinder body 21 and slide-bar constitute the interior moving sets of this leg, the outer moving sets 4 that links with fixed platform 7, its structure is shown in accompanying drawing 6, accompanying drawing 7 and accompanying drawing 8, by cylinder block 25, be placed in ball screw 26 in the cylinder block 25 by bearing, ball nut 27, servomotor 8 and shaft coupling 24 constitute, and design has draw bail to join together with the slide-bar of servo-actuated pair on the ball nut 27.During work, ball nut 27 moves under the drive of ball screw, moves at directions X thereby drive Retractive leg 10.
Design has the identical connection leg 9 of 4 structures of 1 interior moving sets, and concrete structure is shown in accompanying drawing 9, accompanying drawing 10 and accompanying drawing 11.The 2nd, servomotor can rotate by the ball-screw 5 of drive installation on bearing as requested, and servomotor 2 and ball-screw 5 link by shaft coupling.Servomotor 2 is installed in the cylinder block.Ball nut 29 is installed together with straight-line guidance loop bar 23, and straight-line guidance loop bar 23 is installed in the cylinder block with end cap 28.Straight-line guidance loop bar 23 under gathering sill constraint, moving linearly and can not do gyration vertically around axis.Therefore when servomotor drove ball screw 5 rotations, straight-line guidance loop bar 23 was just made stretching motion vertically under the drive of ball nut 29.The ball pivot that is installed with together with end cap 28 is used to connect moving platform.The Hooke's hinge 1 that is installed with together with cylinder block is used to the platform that is connected and fixed.
The course of work of lathe: workpiece to be machined is fixed on the table top of workbench 12, article five, leg can be made stretching motion under the driving of servomotor, make cutting tool on the moving platform 11 obtain that two dimension moves and the motion of Three dimensional rotation, that is: along the translation of X, Z-direction and around the rotation of X, Y, Z axle.Workbench 12 can be done the reciprocating motion along Y direction under the driving of servomotor 13.More than two motions synthetic, lathe has just been realized driving cutting tool and has been done interlock working motion with respect to workpiece.Cutting tool is done the rotary cutting motion under the driving of spindle motor 15, thereby realizes the processing to arbitrary surface.
Embodiment 2:
The general structure of the virtual-shaft machine tool of present embodiment as shown in Figure 3, its overall structure is all identical with embodiment 1 with a structure that connects leg 10 that contains two moving sets, different is 4 identical legs of structure that design has a moving sets, this structure leg constitutes by connecting-rods with constant lengh 19 and an outer moving sets, outer moving sets is by the guide rail 20 that is arranged on the frame 6, ball-screw 18 and constitute with the ball nut slide block 17 of guide rail, ball-screw phase configuration, slide block 17 can slide up and down along guide rail under the drive of servomotor 16 and ball-screw 18.One end of connecting-rods with constant lengh 19 links by Hooke's hinge and slide block 17, and the other end links by ball pivot and moving platform 11.The cutting tool acquisition two dimension on the moving platform that present embodiment can make equally moves the motion with Three dimensional rotation.
Version of the present invention is not limited to the described form of the foregoing description.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB01128904XA CN1158164C (en) | 2001-09-27 | 2001-09-27 | Two dimension moving three dimension rotating virtual shaft machine tool |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB01128904XA CN1158164C (en) | 2001-09-27 | 2001-09-27 | Two dimension moving three dimension rotating virtual shaft machine tool |
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| CN1410224A CN1410224A (en) | 2003-04-16 |
| CN1158164C true CN1158164C (en) | 2004-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB01128904XA Expired - Fee Related CN1158164C (en) | 2001-09-27 | 2001-09-27 | Two dimension moving three dimension rotating virtual shaft machine tool |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014038002A1 (en) * | 2012-09-04 | 2014-03-13 | 三菱電機株式会社 | Numerical control device |
| CN107738249B (en) * | 2014-07-16 | 2020-11-10 | 芜湖乐创电子科技有限公司 | A Billiard Robot Based on Double Parallel Mechanism |
| CN105479740B (en) * | 2014-12-30 | 2018-09-25 | 青岛智能产业技术研究院 | A kind of object automatic colouring device and method |
| CN109278024B (en) * | 2018-10-26 | 2023-09-15 | 昆明理工大学 | A parallel mechanism with two-dimensional movement and three-dimensional rotation |
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