CN111408956B

CN111408956B - Four-axis linkage numerical control machine driven by linear motor

Info

Publication number: CN111408956B
Application number: CN202010511933.2A
Authority: CN
Inventors: 郑成法; 王志贤
Original assignee: FOSHAN NANHAI FUDA PRECISION MACHINERY CO LTD
Current assignee: FOSHAN NANHAI FUDA PRECISION MACHINERY CO LTD
Priority date: 2020-06-08
Filing date: 2020-06-08
Publication date: 2020-09-08
Anticipated expiration: 2040-06-08
Also published as: CN111408956A

Abstract

The invention provides a four-axis linkage numerical control machine driven by a linear motor, which comprises an upright post, a base, a mounting seat, an XY axis module and a ZA axis module, wherein the XY axis module comprises a first workbench, a second workbench, a first linear motor, a second linear motor, a third linear motor, a fourth linear motor, an X axis guide rail and a Y axis guide rail, the first linear motor and the second linear motor are respectively arranged on two sides of the first workbench to drive the first workbench to move, the third linear motor and the fourth linear motor are respectively arranged on two sides of the second workbench to drive the second workbench to move, the ZA axis module comprises a first component and a second component, the first component is arranged on the side surface of the upright post, and the second component is arranged on the first component and can rotate around the X axis. The invention reduces the intermediate mechanical driving link, has the advantages of simple and compact structure and high feeding speed, can effectively offset the influence of normal force on the numerical control machine tool, and can improve the processing precision of the machine tool.

Description

Four-axis linkage numerical control machine driven by linear motor

Technical Field

The invention relates to the technical field of numerical control machines, in particular to a four-axis linkage numerical control machine driven by a linear motor.

Background

The four-axis linkage numerical control machine tool refers to a machine tool comprising X, Y, Z axes and a rotating shaft. The layout of the traditional four-axis linkage numerical control machine tool is basically characterized in that a machine tool body, a stand column, a cross beam and the like are used as supporting parts, a main shaft part and a workbench are driven by a rotating motor to move along a linear guide rail on the supporting parts, and a processing surface track of a tool bit point is formed according to a series kinematics principle of coordinate motion superposition. In a traditional 'rotary servo motor + ball screw' driving system, because a series of intermediate links such as a coupler, a screw, a nut and a bearing exist between a motor and a workbench, elastic deformation, friction, reverse clearance and the like generated by mechanical elements can cause the lag of feeding motion.

Disclosure of Invention

In order to overcome the problem that the traditional 'rotary servo motor and ball screw' driving system causes feed motion lag due to elastic deformation, friction and reverse clearance factors generated by mechanical elements, the invention provides a four-shaft linkage numerical control machine driven by a linear motor, which has the following specific technical scheme:

the utility model provides a linear electric motor driven four-axis linkage digit control machine tool, includes stand, base and mount pad, stand and mount pad respectively fixed mounting on the base.

Four-axis linkage digit control machine tool still includes: the X-axis guide rail is fixedly arranged on the base, the X-axis guide rail is perpendicular to the Y-axis guide rail, the bottom of the first workbench is in sliding connection with the X-axis guide rail, the Y-axis guide rail is fixedly arranged on the first workbench, the bottom of the second workbench is in sliding connection with the Y-axis guide rail, the first linear motor and the second linear motor are respectively arranged on two sides of the first workbench to drive the first workbench to move back and forth along the X-axis guide rail, and the third linear motor and the fourth linear motor are respectively arranged on two sides of the second workbench to drive the second workbench to move back and forth along the Y-axis guide rail; the ZA axis module comprises a first assembly and a second assembly, wherein the first assembly is installed on the side surface of the upright column and can move up and down along the vertical direction, and the second assembly is installed on the first assembly and can rotate around the X axis.

Optionally, first subassembly includes base, two Z axle guide rails, four sets of guide rail slider, the primary of fifth linear electric motor, the secondary of fifth linear electric motor, is two first supporting seat and the linear grating chi that distribute from top to bottom, the base is installed on the side of stand, two Z axle guide rail is parallel to each other and fixed mounting is on the base, the primary of fifth linear electric motor is located two between the Z axle guide rail and fixed mounting is on the base, four sets of guide rail slider installs two symmetrically respectively the bottom of first supporting seat and respectively with Z axle guide rail sliding connection, the secondary fixed mounting of fifth linear electric motor is in two the geometric centre position of the bottom of first supporting seat, linear grating chi and parallel of Z axle guide rail and fixed mounting are on the left and right sides of base.

Optionally, the second subassembly includes second supporting seat, rotating assembly A, connecting rod, rotating assembly B, swing platform, rotating assembly C, U type seat and electric main shaft, second supporting seat fixed mounting is on first supporting seat, rotating assembly A fixed mounting is on the second supporting seat, and rotating assembly B fixed mounting is on swing platform, the both ends of connecting rod respectively with rotating assembly A and rotating assembly B fixed connection, swing platform passes through rotating assembly C and installs the inboard at U type seat, U type seat fixed mounting is one below on the first supporting seat, electric main shaft fixed mounting is on swing platform.

Optionally, the first assembly further includes a self-locking slider, and the self-locking slider is disposed between each group of guide rail sliders and is fixedly mounted on the first support seat.

Optionally, the self-locking slider includes the slider seat, be equipped with U type recess among the slider seat, the recess is by interior toward being equipped with spring, diaphragm, branch, be the jet-propelled pipe and the block rubber of L style of calligraphy outward in proper order, the one end of spring and the bottom fixed connection of recess, the other end and the diaphragm fixed connection of spring, the one end and the diaphragm fixed connection of branch, the other end and the block rubber fixed connection of branch, block rubber and diaphragm all with the inside wall sliding seal of recess be connected, the recess is located be equipped with the inlet port on the lateral wall between block rubber and the diaphragm, the bottom of recess is equipped with the venthole, the air inlet and the inlet port intercommunication of jet-propelled pipe, the gas outlet of jet-propelled pipe is just to the upper surface of diaphragm, is equipped with at least one air vent on the.

Optionally, the self-locking sliding block further comprises a cylindrical shape memory alloy, one end of the cylindrical shape memory alloy is fixedly mounted at the bottom of the groove, and the axis of the cylindrical shape memory alloy is parallel to the axis of the spring.

The beneficial effects obtained by the invention comprise: compared with the traditional four-axis linkage numerical control machine tool driven by a 'rotary servo motor + ball screw' driving system, the invention reduces the intermediate mechanical driving link, can avoid the problem of feed motion lag caused by elastic deformation, friction and reverse clearance factors generated by mechanical elements, and has the advantages of simple and compact structure and high feed speed. In addition, because the first linear motor and the second linear motor are respectively arranged at two sides of the first workbench to drive the first workbench to move back and forth along the X-axis guide rail, the third linear motor and the fourth linear motor are respectively arranged at two sides of the second workbench to drive the second workbench to move back and forth along the Y-axis guide rail, the normal magnetic attraction force between the primary and secondary stages of the first linear motor and the second linear motor and the normal magnetic attraction force between the primary and secondary stages of the third linear motor and the fourth linear motor are utilized, the first workbench and the second workbench are stressed in the same and opposite directions in the horizontal direction, the resultant force is zero, the influence of the normal force on the numerical control machine tool can be effectively offset, the fluctuation of the friction force of a feeding system caused by the fluctuation of the normal force is avoided, the problem of the fluctuation of the thrust of the numerical control machine tool is further solved, and the machining precision of the machine tool can be improved.

Drawings

The present invention will be further understood from the following description taken in conjunction with the accompanying drawings, the emphasis instead being placed upon illustrating the principles of the embodiments.

FIG. 1 is a schematic diagram of the overall structure of a four-axis linkage numerical control machine driven by a linear motor according to an embodiment of the present invention;

FIG. 2 is a front view of an XY-axis module in an embodiment of the invention;

FIG. 3 is a right side view of an XY-axis module in an embodiment of the invention;

FIG. 4 is a top view of an XY-axis module in an embodiment of the invention;

fig. 5 is a schematic view of the overall structure of the ZA shaft module in the embodiment of the present invention;

fig. 6 is a right side view of a ZA axis module in an embodiment of the present invention;

FIG. 7 is a top view of a ZA axis module in an embodiment of the present invention;

FIG. 8 is a first schematic structural view of a self-locking slider according to an embodiment of the present invention;

fig. 9 is a second schematic structural diagram of the self-locking slider in the embodiment of the invention.

Description of reference numerals:

1. a column; 2. a base; 3. a mounting seat; 4. a first table; 5. a second table; 6. a first linear motor; 7. a second linear motor; 8. a third linear motor; 9. a fourth linear motor; 10. an X-axis guide rail; 11. a Y-axis guide rail; 12. a base; 13. a Z-axis guide rail; 14. a guide rail slider; 15. a fifth linear motor primary; 16. a fifth linear motor secondary; 17. a first support base; 18. a linear grating ruler; 19. a second support seat; 20. rotating the assembly A; 21. a connecting rod; 22. a rotating assembly B; 23. a swing platform; 24. a rotating assembly C; 25. a U-shaped seat; 26. an electric spindle; 27. a self-locking slide block; 28. a slider seat; 29. a spring; 30. a transverse plate; 31. a strut; 32. a rubber block; 33. a cylindrical shape memory alloy; 34. an XY axis module; 35. a ZA axis module; 36. an air inlet; 37. an air outlet; 38. a groove; 39. a gas ejector tube; 40. an opening; 41. and (4) a vent hole.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to embodiments thereof.

The invention relates to a four-axis linkage numerical control machine driven by a linear motor, which explains the following embodiments according to the attached drawings:

the first embodiment is as follows:

as shown in fig. 1, 2, 3 and 4, a four-axis linkage numerical control machine driven by a linear motor comprises an upright post 1, a base 2 and a mounting seat 3, wherein the upright post 1 and the mounting seat 3 are respectively and fixedly mounted on the base 2. Four-axis linkage digit control machine tool still includes: an XY axis module 34 and a ZA axis module 35. The XY-axis module 34 comprises a first workbench 4, a second workbench 5, a first linear motor 6, a second linear motor 7, a third linear motor 8, a fourth linear motor 9, an X-axis guide rail 10 and a Y-axis guide rail 11, the X-axis guide rail 10 is fixedly arranged on the base 2, the X-axis guide rail 10 is vertical to the Y-axis guide rail 11, the bottom of the first workbench 4 is connected with an X-axis guide rail 10 in a sliding way, the Y-axis guide rail 11 is fixedly arranged on the first workbench 4, the bottom of the second workbench 5 is connected with a Y-axis guide rail 11 in a sliding way, the first linear motor 6 and the second linear motor 7 are respectively arranged at two sides of the first workbench 4 to drive the first workbench 4 to move back and forth along an X-axis guide rail 10, the third linear motor 8 and the fourth linear motor 9 are respectively arranged on two sides of the second worktable 5 to drive the second worktable 5 to move back and forth along the Y-axis guide rail 11. A ZA axis module 35, the ZA axis module 35 including a first assembly mounted on the side of the column 1 and movable up and down in the vertical direction, and a second assembly mounted on the first assembly and movable in rotation about the X axis.

Referring to fig. 2, 3 and 4 again, the primary side of the first linear motor 6 and the primary side of the second linear motor 7 are respectively fixed to both sides of the mounting base 3, and the secondary side of the first linear motor 6 and the secondary side of the second linear motor 7 are respectively disposed on both sides of the first table 4. The primary of the third linear motor 8 and the primary of the fourth linear motor 9 are respectively fixed on two sides of the upper surface of the first workbench 4, and the secondary of the third linear motor 8 and the secondary of the fourth linear motor 9 are correspondingly arranged on two sides of the second workbench 5.

The XY-axis module 34 realizes the X-axis and Y-axis movements of the four-axis linked numerical control machine, and the ZA-axis module 35 realizes the Z-axis and a-axis movements. The XY axis module 34 is respectively driven by the first linear motor 6, compared with the traditional four-axis linkage numerical control machine driven by a rotary servo motor and ball screw driving system, the XY axis module reduces the middle mechanical driving link, can avoid the problem of lag of feeding motion caused by elastic deformation, friction and reverse clearance factors generated by mechanical elements, and has the advantages of simple and compact structure and high feeding speed. In addition, because the first linear motor 6 and the second linear motor 7 are respectively arranged at two sides of the first workbench 4 to drive the first workbench 4 to move back and forth along the X-axis guide rail 10, the third linear motor 8 and the fourth linear motor 9 are respectively arranged at two sides of the second workbench 5 to drive the second workbench 5 to move back and forth along the Y-axis guide rail 11, the normal magnetic attraction force between the primary and secondary stages of the first linear motor 6 and the second linear motor 7 and the normal magnetic attraction force between the primary and secondary stages of the third linear motor 8 and the fourth linear motor 9 are utilized to enable the first workbench 4 and the second workbench 5 to be stressed in the horizontal direction with equal magnitude and opposite directions, and the resultant force is zero, thereby effectively offsetting the influence of the normal force on the numerical control machine tool, avoiding the problem that the friction force of the feeding system fluctuates due to the fluctuation of the normal force, and further causing the fluctuation of the thrust of the numerical control machine tool, the machining precision of the machine tool can be improved.

Example two:

the present embodiment should be understood to include all the technical features of the foregoing embodiments, and further detailed description is provided on the basis of the foregoing embodiments.

As shown in fig. 5, 6 and 7, the first assembly includes a base 12, two Z-axis guide rails 13, four sets of guide rail sliders 14, a fifth linear motor primary 15, a fifth linear motor secondary 16, two first support seats 17 distributed up and down, and a linear grating ruler 18, the base 12 is installed on the side surface of the upright 1, the two Z-axis guide rails 13 are parallel to each other and fixedly installed on the base 12, the fifth linear motor primary 15 is installed between the two Z-axis guide rails 13 and fixedly installed on the base 12, the four sets of guide rail sliders 14 are eight in total and respectively symmetrically installed at the bottoms of the two first support seats 17 and respectively slidably connected with the Z-axis guide rails 13, that is, two sets of guide rail sliders 14 are installed at the bottom of each first support seat 17, the fifth linear motor secondary 16 is fixedly installed at the geometric center position of the bottoms of the two first support seats 17, the linear grating ruler 18 is parallel to the Z-axis guide rail 13 and is fixedly installed on the left and right side surfaces of the base 12. The second subassembly includes second supporting seat 19, rotating component A20, connecting rod 21, rotating component B22, swing platform 23, rotating component C24, U type seat 25 and electricity main shaft 26, second supporting seat 19 fixed mounting is on first supporting seat 17, rotating component A20 fixed mounting is on second supporting seat 19, rotating component B22 fixed mounting is on swing platform 23, the both ends of connecting rod 21 respectively with rotating component A20 and rotating component B22 fixed connection, swing platform 23 passes through rotating component C24 and installs the inboard at U type seat 25, U type seat 25 fixed mounting is one below on first supporting seat 17, electricity main shaft 26 fixed mounting is on swing platform 23.

The base 12 is a one-piece U-shaped channel hollow casting with mounting holes on both sides of the bottom surface for fixed connection with the column 1. the swivel assembly A20, the swivel assembly B22 and the swivel assembly C24 are each a stack of swivel parts that can rotate about their own axes by 260 degrees. The two ends of the connecting rod 21 are provided with rotating shafts matched with the rotating assembly A20 and the rotating assembly B22 in an interference fit mode.

The swing platform 23 is a square cavity structure, and the bottom of the swing platform is provided with an installation positioning hole for installing and fixing an electric spindle 26, wherein the electric spindle 26 adopts an alternating current variable frequency electric spindle 26.

The first assembly and the second assembly can respectively realize two-degree-of-freedom motion of moving along the Z axis and rotating around the X axis (namely, the A axis), the deflection of the A axis can reach 90 degrees at most, and the vertical-horizontal conversion processing function of the electric spindle 26 can be realized.

Example three:

As shown in fig. 8, the first assembly further includes a self-locking slider 27, and the self-locking slider 27 is disposed between each set of rail sliders 14 and is fixedly mounted on the first support seat 17. The self-locking sliding block 27 comprises a sliding block seat 28, a U-shaped groove 38 is formed in the sliding block seat 28, a spring 29, a transverse plate 30, a supporting rod 31, an air injection pipe 39 and a rubber block 32 are sequentially arranged in the groove 38 from inside to outside, one end of the spring 29 is fixedly connected with the bottom of the groove 38, the other end of the spring 29 is fixedly connected with the transverse plate 30, one end of the supporting rod 31 is fixedly connected with the transverse plate 30, the other end of the supporting rod 31 is fixedly connected with the rubber block 32, the rubber block 32 and the transverse plate 30 are both connected with the inner side wall of the groove 38 in a sliding and sealing mode, the groove 38 is located on the side wall between the rubber block 32 and the transverse plate 30 and is provided with an air inlet 36, and the bottom. The air inlet of the air injection pipe 39 is communicated with the air inlet hole 36, and the air outlet of the air injection pipe 39 is opposite to the upper surface of the transverse plate 30. As a preferable technical solution, as shown in fig. 8 and 9, an opening 40 penetrating through the strut 31 is formed in the middle of the strut 31, the gas injection pipe 39 is made of rigid plastic or stainless steel and includes a gas inlet and two gas outlets, the gas injection pipe 39 passes through the opening 40, the two gas outlets of the gas injection pipe 39 are respectively located on two sides of the strut 31, and the height of the opening 40 is greater than the diameter of the gas injection pipe 39. The transverse plate 30 is provided with at least one vent hole 41 penetrating through the upper and lower surfaces of the transverse plate 30, and the positions of the vent holes 41 and the positions of the air outlets of the air injection pipes 39 are staggered. The gas injection pipe 39 is provided with two gas outlets respectively located at two sides of the supporting rod 31, so that the transverse plate 30 can be subjected to balanced gas flow pressure, and the transverse plate 30, the supporting rod 31 and the rubber block 32 can be better driven to move downwards through gas flow. The effect of the height of the openings 40 being greater than the diameter of the gas lances 39 is that the gas lances 39 can pass through the openings 40 and the transverse plate 30 can be moved downwards under the injection pressure of the gas flow. The distance that the transverse plate 30, the supporting rod 31 and the rubber block 32 move under the air flow injection pressure depends on the gap distance between the air injection pipe 39 and the opening 40, and the gap distance can be set according to actual needs, which is not described herein again. In order that the air injected from the air injection pipes 39 can be rapidly discharged from the air vent holes 41, the air vent holes 41 are provided with two or more diameters larger than the inner diameter of the air injection pipes 39. The contact surface of the transverse plate 30 and the support rod 31 is the upper surface, and the contact surface of the transverse plate 30 and the spring 29 is the lower surface.

In a free state, the self-locking sliding block 27 locks the Z-axis guide rail 13 under the action of the pre-pressing elastic force of the spring 29, and at the moment, a vertical upward static friction force is generated, so that the primary 15 of the fifth linear motor can be locked, and the first component and the second component are prevented from sliding off due to self weight. In a working state, air is introduced into the groove 38 through the air inlet hole 36 and the air injection pipe 39, certain pressure air flow pushes the transverse plate 30 to move downwards through the air outlet of the air injection pipe 39, the prepressing elastic force of the spring 29 is overcome, the support rod 31 and the rubber block 32 are driven to move downwards, the static friction force between the self-locking sliding block 27 and the Z-axis guide rail 13 disappears, and the first component and the second component can be unlocked and can freely reciprocate on the Z axis.

As shown in fig. 9, the self-locking slider 27 further includes a cylindrical shape memory alloy 33 having one end fixedly mounted on the bottom of the groove 38, and the axial line of the cylindrical shape memory alloy 33 and the axial line of the spring 29 are parallel to each other. The cylindrical shape memory alloy 33 has the characteristic of expanding along the axial direction along with the temperature rise, and when the preset temperature range is exceeded, the cylindrical shape memory alloy 33 can stretch and overcome the elastic force of the spring 29, and pushes the transverse plate 30, the supporting rod 31 and the rubber block 32 to move towards the direction of the Z-axis guide rail 13 so as to tightly hold the Z-axis guide rail 13. Through setting up cylinder shape memory alloy 33, can utilize mechanical system dead lock first subassembly when ZA axle module 35 high temperature, avoid the accident that four-axis linkage digit control machine tool caused because of high temperature work.

In summary, the four-axis linkage numerical control machine driven by the linear motor disclosed by the invention has the following beneficial technical effects: compared with the traditional four-axis linkage numerical control machine tool driven by a 'rotary servo motor + ball screw' driving system, the invention reduces the intermediate mechanical driving link, can avoid the problem of feed motion lag caused by elastic deformation, friction and reverse clearance factors generated by mechanical elements, and has the advantages of simple and compact structure and high feed speed. In addition, because the first linear motor and the second linear motor are respectively arranged at two sides of the first workbench to drive the first workbench to move back and forth along the X-axis guide rail, the third linear motor and the fourth linear motor are respectively arranged at two sides of the second workbench to drive the second workbench to move back and forth along the Y-axis guide rail, the normal magnetic attraction force between the primary and secondary stages of the first linear motor and the second linear motor and the normal magnetic attraction force between the primary and secondary stages of the third linear motor and the fourth linear motor are utilized, the first workbench and the second workbench are stressed in the same and opposite directions in the horizontal direction, the resultant force is zero, the influence of the normal force on the numerical control machine tool can be effectively offset, the fluctuation of the friction force of a feeding system caused by the fluctuation of the normal force is avoided, the problem of the fluctuation of the thrust of the numerical control machine tool is further solved, and the machining precision of the machine tool can be improved.

The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.

Claims

1. The utility model provides a linear electric motor driven four-axis linkage digit control machine tool, includes stand, base and mount pad, stand and mount pad are fixed mounting respectively on the base, its characterized in that, four-axis linkage digit control machine tool still includes:

the X-axis guide rail is fixedly arranged on the base, the X-axis guide rail is perpendicular to the Y-axis guide rail, the bottom of the first workbench is in sliding connection with the X-axis guide rail, the Y-axis guide rail is fixedly arranged on the first workbench, the bottom of the second workbench is in sliding connection with the Y-axis guide rail, the first linear motor and the second linear motor are respectively arranged on two sides of the first workbench to drive the first workbench to move back and forth along the X-axis guide rail, and the third linear motor and the fourth linear motor are respectively arranged on two sides of the second workbench to drive the second workbench to move back and forth along the Y-axis guide rail;

a ZA axis module including a first module installed on a side surface of the column and movable up and down in a vertical direction, and a second module installed on the first module and movable rotationally about the X axis;

the first assembly comprises a base, two Z-axis guide rails, four groups of guide rail sliding blocks, a fifth linear motor primary, a fifth linear motor secondary, two first supporting seats and a linear grating ruler, wherein the two first supporting seats and the linear grating ruler are vertically distributed; the first assembly further comprises a self-locking sliding block, the self-locking sliding block is arranged between each group of guide rail sliding blocks and is fixedly installed on the first supporting seat, the self-locking sliding block comprises a sliding block seat, a U-shaped groove is formed in the sliding block seat, a spring, a transverse plate, a supporting rod, an air injection pipe and a rubber block are sequentially arranged in the groove from inside to outside, one end of the spring is fixedly connected with the bottom of the groove, the other end of the spring is fixedly connected with the transverse plate, one end of the supporting rod is fixedly connected with the transverse plate, the other end of the supporting rod is fixedly connected with the rubber block, the rubber block and the transverse plate are both in sliding sealing connection with the inner side wall of the groove, an air inlet hole is formed in the side wall of the groove between the rubber block and the transverse plate, an air outlet hole is formed in the bottom of the groove, the air inlet hole of, the transverse plate is provided with at least one vent hole, the self-locking sliding block further comprises a cylindrical shape memory alloy with one end fixedly mounted at the bottom of the groove, and the axial lead of the cylindrical shape memory alloy is parallel to the axial lead of the spring.

2. The numerical control machine tool of claim 1, wherein the second assembly comprises a second support base, a rotation assembly a, a link, a rotation assembly B, a swing platform, an C, U-shaped base for rotation assembly, and an electric spindle, the second support base is fixedly mounted on the first support base, the rotation assembly a is fixedly mounted on the second support base, the rotation assembly B is fixedly mounted on the swing platform, both ends of the link are fixedly connected with the rotation assembly a and the rotation assembly B, respectively, the swing platform is mounted inside the U-shaped base through the rotation assembly C, the U-shaped base is fixedly mounted on the next one of the first support bases, and the electric spindle is fixedly mounted on the swing platform.