CN100464946C - Structure of spindle head of parallel type A/B axes - Google Patents

Structure of spindle head of parallel type A/B axes Download PDF

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Publication number
CN100464946C
CN100464946C CNB2007100628542A CN200710062854A CN100464946C CN 100464946 C CN100464946 C CN 100464946C CN B2007100628542 A CNB2007100628542 A CN B2007100628542A CN 200710062854 A CN200710062854 A CN 200710062854A CN 100464946 C CN100464946 C CN 100464946C
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CN
China
Prior art keywords
input component
platform
fixed platform
main shaft
branch
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CNB2007100628542A
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Chinese (zh)
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CN101003118A (en
Inventor
刘辛军
汪劲松
吴超
王立平
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清华大学
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Priority to CNB2007100628542A priority Critical patent/CN100464946C/en
Publication of CN101003118A publication Critical patent/CN101003118A/en
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Publication of CN100464946C publication Critical patent/CN100464946C/en

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Abstract

A spindle head structure for the parallel axles A and B is composed of a movable platform or spindle, a fixed platform, the first branch consisting of the first input part and two single-freedom movement sets, and the second branch consisting of the second input part, a connection part, the single-freedom movement set a connected between the second input part and fixed platform, the single-freedom movement set b connected between the second input part and connection part, and the single-freedom movement set c connected between connection part and dynamic platform or spindle.

Description

A kind of parallel A/B shaft mainshaft head structure
Technical field
The invention belongs to mechanical manufacturing field, particularly a kind of parallel A/B shaft mainshaft head structure that can cooperate other device to carry out Compound Machining.
Background technology
Regulation is the A axle around the rotating reference axis of the X-axis of lathe, is the B axle around the rotating reference axis of the Y-axis of lathe, is called the C axle around the rotating reference axis of the Z of lathe axle.Generally calling A/B shaft mainshaft head (or claiming A/B yaw), calling A/C shaft mainshaft head (or claiming A/C yaw) around the main tapping of X-axis and the rotation of Z axle around the main tapping of X-axis and Y-axis rotation.Figure 9 shows that an A/C shaft mainshaft head structure, main tapping 91 can rotate along A axle and C axle.
At present, a large amount of multi-functional milling machines all is equipped with one can realize rotating two shaft mainshaft heads continuously, these main tappings adopt the series-mode frame of double pendulum angle or fork head more, and a kind of fork wardrobe main shaft of having described a kind of A/C shaft mainshaft head and patent US3483796 proposition as patent ZL03278067.2 is first-class.These main tappings often the transmission system complexity, structure is huge, moving-mass is big, and is difficult to install, manufacturing cost height, maintenance cost are also higher.
Compare with the A/C shaft mainshaft head, though the A/B shaft mainshaft head has the less shortcoming of pivot angle, but it has the working (machining) efficiency height, make advantages such as workpiece deformation is less, especially has remarkable advantages in the processing of the parts of a large amount of cuttings of needs such as large thin-wall aircraft complex structural member.In recent years, high flexibility A/B yaw has become the most key basic components at a lot of key structure spare manufacture fields.For example, German DS Technologie company has obtained great success based on the Z3 three-axis main-shaft head of parallel institution development in numerical control machining center, this main tapping have along the Z direction move and along the rotation three degree of freedom of A, B axle.Yet,, often only need have two shaft mainshaft heads that rotate along A, B axle at some machining center equipment.Therefore, in order to reduce manufacturing cost, save maintenance cost, develop a kind of and have along two shaft mainshaft heads of A, the rotation of B axle and seem highly significant.
Summary of the invention
The objective of the invention is to overcome the deficiency of existing tandem main-shaft head structure, utilize the structural principle of parallel machine, a kind of parallel A/B shaft mainshaft head structure is provided.This main tapping has high rigidity, the harmonic motion quality, and high dynamic performance, simple structure, identical parts quantity is many, and cost is low, and easily manufacturing and flexibility ratio can cooperate other device to carry out Compound Machining than characteristics such as height.
In view of this, in order to solve the problems of the technologies described above, a kind of parallel A/B shaft mainshaft head structure that the present invention proposes, base is characterised in that, this structure comprise one can mounting cutter moving platform or main shaft, a fixed platform, and connect first, second branch between described moving platform or main shaft and the fixed platform; Described first branch comprises: first input component, and two single dof mobility pairs that respectively described first input component and described moving platform or main shaft, fixed platform are connected, the single dof mobility pair that wherein connects between first input component and the fixed platform drives; Described second branch comprises: second input component, connector and secondary a of single dof mobility, kinematic pair b and kinematic pair c: secondary a of this single dof mobility is connected between described second input component and the fixed platform, kinematic pair a is revolute pair or moving sets, and drives; This kinematic pair b is connected between described second input component and the described connector; This kinematic pair c is connected between described connector and moving platform or the main shaft; Wherein, kinematic pair b and kinematic pair c are single-degree-of-freedom or multiple degrees of freedom.
Design feature of the present invention and effect
The moving platform (main shaft) of parallel A of the present invention/B shaft mainshaft head structure has two independent rotation frees degree, and two branches realize a rotational freedom of moving platform (main shaft) respectively.This structure has: the pivot angle of (1) moving platform (main shaft) big (be generally ± 60 °, maximum can reach ± 90 °); (2) compact conformation; (3) rigidity height.These advantages are widely used this structure on the main tapping of lathe.
Description of drawings
Fig. 1 is the structural representation of parallel A of the present invention/B shaft mainshaft head structure first embodiment;
Fig. 2 is the structural representation of parallel A of the present invention/B shaft mainshaft head structure second embodiment;
Fig. 3 is the structural representation of parallel A of the present invention/B shaft mainshaft head structure the 3rd embodiment;
Fig. 4 is the structural representation of parallel A of the present invention/B shaft mainshaft head structure the 4th embodiment;
Fig. 5 is the structural representation of parallel A of the present invention/B shaft mainshaft head structure the 5th embodiment;
Fig. 6 is the structural representation of parallel A of the present invention/B shaft mainshaft head structure the 6th embodiment.
Fig. 7 is the structural representation of parallel A of the present invention/B shaft mainshaft head structure the 7th embodiment;
Fig. 8 is the structural representation of parallel A of the present invention/B shaft mainshaft head structure the 8th embodiment;
Fig. 9 is the structural representation of existing a kind of simple A/C shaft mainshaft head.
The specific embodiment
The parallel A that the present invention proposes/B shaft mainshaft head knot reaches embodiment in conjunction with the accompanying drawings and is described in detail as follows:
A kind of parallel A/B shaft mainshaft head structure that the present invention proposes, a kind of parallel A/B shaft mainshaft head structure, base is characterised in that, this structure comprise one can mounting cutter moving platform or main shaft, a fixed platform, and connect first, second branch between described moving platform or main shaft and the fixed platform; Described first branch comprises: first input component, and two single dof mobility pairs that respectively described first input component and described moving platform or main shaft, fixed platform are connected, the single dof mobility pair that wherein connects between first input component and the fixed platform drives; Described second branch comprises: second input component, connector and secondary a of single dof mobility, kinematic pair b and kinematic pair c: secondary a of this single dof mobility is connected between described second input component and the fixed platform, kinematic pair a is revolute pair or moving sets, and drives; This kinematic pair b is connected between described second input component and the described connector; This kinematic pair c is connected between described connector and moving platform or the main shaft; Wherein, kinematic pair b and kinematic pair c are single-degree-of-freedom or multiple degrees of freedom.
Two kinematic pairs that are connected with moving platform or main shaft in above-mentioned two branches all are revolute pairs, and the axis of these two revolute pairs is quadratures.
If the single dof mobility pair that connects between first input component and the fixed platform in above-mentioned first input component is non-driving, also can realize input motion by increasing four-bar mechanism.
Above-mentioned first input component can be the U-shaped workpiece.
The above platform also can comprise the one or more vertical epitaxial part that is cemented in this platform.
If the secondary non-driving of the single dof mobility in above-mentioned first input component between connection first input component and the fixed platform, then also comprise the four-bar mechanism that drives first input component.
Above-mentioned four-bar mechanism can be linked to each other with described first input component and described platform by a driven slide block, connector and form.
Second input component and connector in above-mentioned second branch all can be the bar shaped rod member, or second input component can be V shape pole spare, connector can be the bar shaped rod member.
Second input component in above-mentioned second branch can be a slide block, and described connector can be the bar shaped rod member or the vertical bar rod member of bending.
The first embodiment of the present invention as shown in Figure 1, the moving platform of this structure (main shaft) 14 is connected with fixed platform 10 by two branches.Fixed platform 10 is the platform of broad sense, two vertical epitaxial parts that comprise platform and be cemented in platform.In described two branches, first branch comprises: U-shaped input rod member 12, and two revolute pairs 11 and 13 of being connected with described fixed platform 10, moving platform (main shaft) 14 respectively of U-shaped input rod member 12, the revolute pair 11 that wherein is connected between U-shaped input rod member 12 and the fixed platform 10 drives.Second branch comprises: bar shaped input rod member 17, bar shaped connects rod member 19 and three kinematic pairs, described three kinematic pairs are revolute pair, be respectively to be connected in bar shaped input rod member 17 and revolute pair 16, bar shaped input rod member 17 between the fixed platform 10 to be connected revolute pair 18 between the rod member 19 and the revolute pair 15 between bar shaped connection rod member 19 and the moving platform (main shaft) 14 with bar shaped, wherein bar shaped is imported the revolute pair 16 that is connected between rod member 17 and the fixed platform 10 and is driven.The axes intersect of all revolute pairs is in a bit among this embodiment, and connects two revolute pairs 13 of moving platform (main shaft) 14 and 15 axis is a quadrature.
The second embodiment of the present invention as shown in Figure 2, the difference of this structure and first embodiment is, make the bar shaped input rod member 17 of second branch into shown in Fig. 2 rod member V-arrangement input rod member 21, promptly present embodiment has increased a passive constraint, has improved the rigidity of structure.Meanwhile, the vertical epitaxial part of fixed platform 22 has also made three into.
The third embodiment of the present invention as shown in Figure 3, the moving platform of this structure (main shaft) 37 is connected with L shaped fixed platform 31 by two branches.In described two branches, first branch is identical with first branched structure of first embodiment, second branch comprises: slide block 33 is as input component, the strip piece 34 of bending is as connector and three kinematic pairs, and described three kinematic pairs are respectively to be connected in input slide block 33 and moving sets 32, input slide block 33 between the fixed platform 31 to be connected spherical hinge 35 between the rod member 34 and the universal coupling 36 between bar shaped connection rod member 34 and the moving platform (main shaft) 37 with bar shaped.The moving sets 32 that wherein is connected between input slide block 32 and the fixed platform 31 drives, and the guide rail of importing slide block 33 is arranged on the fixed platform 31 and is parallel with the B axle.The axis that connects two revolute pairs of moving platform (main shaft) 37 in the present embodiment is a quadrature.
The fourth embodiment of the present invention as shown in Figure 4, the difference of this structure and the 3rd embodiment is, the slide rail of the input slide block 41 of second branch changed into parallel with the C axle, may be convenient to the installation of structure like this; Make fixed platform 40 into U-shaped accordingly, and bar shaped input rod member 42 needs not be bending.
The 5th embodiment of parallel A of the present invention/B shaft mainshaft head structure as shown in Figure 5, the moving platform of this structure (main shaft) 56 is connected with U-shaped fixed platform 50 by two branches.In described two branches, first branch is identical with first branched structure of first embodiment, second branch comprises: input slide block 52, bar shaped connects rod member 54 and three kinematic pairs, and to be respectively input slide block 52 be connected revolute pair 53 between the rod member 54 and the revolute pair 55 between bar shaped connection rod member 54 and the moving platform (main shaft) 56 with moving sets, input slide block 52 between the circular arc slide rail 51 to described three kinematic pairs with bar shaped.The moving sets that wherein is connected between input slide block 52 and the circular arc slide rail 51 drives, circular arc slide rail 51 is cemented on the U-shaped fixed platform 50 by firmware, the axes intersect of each revolute pair of present embodiment is in the center of circle of this circular arc, and the axis of two revolute pairs of connection moving platform (main shaft) 56 is quadratures.
The sixth embodiment of the present invention as shown in Figure 6, the moving platform of this structure (main shaft) 66 is connected with L shaped fixed platform 60 by two branches.In described two branches, first branch is identical with first branched structure of first embodiment, second branch comprises: input slide block 62, bar shaped connect rod member 64 and three kinematic pairs, described three kinematic pairs are respectively to be connected in moving sets 61, input slide block 62 between input slide block 62 and the fixed platform 60 to be connected compound hinges 63 between the rod member 64 and the revolute pair 65 between bar shaped connection rod member 64 and the moving platform (main shaft) 66 with bar shaped, and described compound hinges 63 is synthesized by a revolute pair and a cylindrical pair.The moving sets 61 that wherein is connected between input slide block 62 and the fixed platform 60 drives, the slide rail of input slide block 61 is arranged on the fixed platform 60 and is parallel with the B axle, the axis of each revolute pair of present embodiment (not comprising the revolute pair in the compound hinges) and the axes intersect of the cylindrical pair in the compound hinges are in a bit, and the axis of two revolute pairs of connection moving platform (main shaft) 66 is quadratures.
The seventh embodiment of the present invention as shown in Figure 7, the difference of this mechanism and the 6th embodiment, be to change the driving revolute pair between U-shaped rod member 71 in first branch and the fixed platform 70 into non-drive form, and increase a vertical epitaxial part, slide block 73 and the bar shaped connection rod member 72 of fixed platform 70.Make slide block 73, bar shaped connect rod member 72, U-shaped rod member 71 and fixed platform 70 like this and form a four-bar mechanism, realize the rotation of U-shaped rod member 71 by the moving sets between driving slide block 73 and the fixed platform 70.
The eighth embodiment of the present invention as shown in Figure 8, the difference of this mechanism and the 6th embodiment is to change the driving revolute pair between U-shaped rod member 81 in first branch and the L shaped fixed platform 80 into non-drive form; And increasing bar shaped rod member 82 and 83, they and U-shaped rod member 81, fixed platform 80 form a four-bar mechanism, realize the rotation of U-shaped rod member 81 by the rotation that drives bar shaped rod member 83.
By the 7th and the 8th embodiment as can be seen, change the driving revolute pair of first branch into non-drive form, and drive by other four-bar mechanism, this structure also can be used for first, second, third and fourth, five embodiment.

Claims (8)

1, a kind of parallel A/B shaft mainshaft head structure, this structure comprise one can mounting cutter moving platform or main shaft, a fixed platform, and connect first, second branch between described moving platform or main shaft and the fixed platform; It is characterized in that, described first branch comprises: first input component, and two single dof mobility pairs that respectively described first input component and described moving platform or main shaft, fixed platform are connected, the single dof mobility pair that wherein connects between first input component and the fixed platform drives; Described second branch comprises: second input component, connector and secondary a of single dof mobility, kinematic pair b and kinematic pair c: secondary a of this single dof mobility is connected between described second input component and the fixed platform, and kinematic pair a is revolute pair or moving sets, and drives; This kinematic pair b is connected between described second input component and the described connector; This kinematic pair c is connected between described connector and moving platform or the main shaft; Wherein, kinematic pair b and kinematic pair c are single-degree-of-freedom or multiple degrees of freedom; Moving platform or main shaft have two independent rotation frees degree, and two branches realize a rotational freedom of moving platform or main shaft respectively.
2, structure as claimed in claim 1 is characterized in that, two kinematic pairs that are connected with moving platform or main shaft in described two branches all are revolute pairs, and the axis of these two revolute pairs is quadratures.
3, structure as claimed in claim 1 is characterized in that, described first input component is the U-shaped workpiece.
4, structure as claimed in claim 1 is characterized in that, described fixed platform also comprises the one or more vertical epitaxial part that is cemented in this fixed platform.
5, as claim 1,2,3 or 4 described structures, it is characterized in that, change connect single dof mobility pair between first input component and the fixed platform in described first branch as non-driving into, drive the motion of first input component by additional four-bar mechanism.
6, structure as claimed in claim 5 is characterized in that, described four-bar mechanism is formed by a driven slide block, connector, described first input component, described fixed platform.
7, as claim 1,2,3 or 4 described structures, it is characterized in that second in described second branch
Input component and connector are the bar shaped rod member, or second input component is that V shape pole spare, connector are the bar shaped rod member.
As claim 1,2,3 or 4 described structures, it is characterized in that 8, second input component in described second branch is a slide block, described connector is the bar shaped rod member or the vertical bar rod member of bending.
CNB2007100628542A 2007-01-19 2007-01-19 Structure of spindle head of parallel type A/B axes CN100464946C (en)

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CN100464946C true CN100464946C (en) 2009-03-04

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101301725B (en) * 2008-06-26 2010-06-02 清华大学 Series connected type A/B shaft mainshaft head structure driven by telescopic branched chain
CN102626870B (en) * 2012-05-03 2013-12-11 清华大学 Three-DOF (Degree of Freedom) parallel spindle head with single-DOF hinge

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000130536A (en) * 1998-10-27 2000-05-12 Fanuc Ltd Parallel link mechanism
CN1075418C (en) * 1999-04-29 2001-11-28 清华大学 Structure of machine tool with plane double-slider three-freedom virtual axle
CN1083746C (en) * 1998-12-11 2002-05-01 中国科学院沈阳自动化研究所 Truss structure digital controlled machine-tool
US20030182782A1 (en) * 2002-03-26 2003-10-02 Emag Maschinenfabrik Gmbh Machining system with multiaxial movement
CN1715008A (en) * 2005-07-06 2006-01-04 河北工业大学 Three freedom decoupling parallel robot mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000130536A (en) * 1998-10-27 2000-05-12 Fanuc Ltd Parallel link mechanism
CN1083746C (en) * 1998-12-11 2002-05-01 中国科学院沈阳自动化研究所 Truss structure digital controlled machine-tool
CN1075418C (en) * 1999-04-29 2001-11-28 清华大学 Structure of machine tool with plane double-slider three-freedom virtual axle
US20030182782A1 (en) * 2002-03-26 2003-10-02 Emag Maschinenfabrik Gmbh Machining system with multiaxial movement
CN1715008A (en) * 2005-07-06 2006-01-04 河北工业大学 Three freedom decoupling parallel robot mechanism

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