CN100503150C - Digital control machine tool with five degrees of freedom in parallel and series - Google Patents
Digital control machine tool with five degrees of freedom in parallel and series Download PDFInfo
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- CN100503150C CN100503150C CNB2006101510806A CN200610151080A CN100503150C CN 100503150 C CN100503150 C CN 100503150C CN B2006101510806 A CNB2006101510806 A CN B2006101510806A CN 200610151080 A CN200610151080 A CN 200610151080A CN 100503150 C CN100503150 C CN 100503150C
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Abstract
A numerally controlled machine-tool with 5-freedom serial-parallel mechanism for machining complex curved workpiece has an upper fixed platform, a lower movable platform, 4 telescopic connecting rods between said fixed and movable platforms, the first servo motor linked with the top ends of said 4 telescopic connecting rods, a connection axle installed to the supporting bottom surface of said movable platform and linked with the second servo motor, an electric mainshaft installed to said connection axle, and cutting tool fixed to lower end of said electric mainshaft.
Description
Technical field
The present invention relates to a kind of five degree of freedom Digit Control Machine Tool, belong to machinery manufacturing technology field.
Background technology
In recent ten years, parallel machine is the hot subject that domestic and international Digit Control Machine Tool research field is paid special attention to.Parallel machine claims virtual-shaft machine tool again, be knowledge-intensive, intellect-intensive, technology-intensive electromechanical integration high-tech product, be the intersection of multidisciplinary application technologies such as parallel robot, numerical controlled machinery, computer control, accurate measurement, digital control processing, domestic scholar has dropped into number of research projects (quoting publication number as proof is that CN 1788929A, name are called the Chinese invention patent of " five axis linkage parallel-tandem digital control machine tool ") to it.
Parallel machine is compared with the Digit Control Machine Tool of traditional structure form has many advantages.In the traditional machine tool, driving cutter and workpiece are made the feed shaft of relative motion and are arranged according to Cartesian coordinate, and are series connection, open-chain structure.In order to realize five processing, needing increases the attitude that two axles are controlled cutter again on three traditional lathes, and all these axles are all pressed cascaded structure and arranged.When an axle motion, need to drive all axles motion together of back on the series connection kinematic chain, so motional inertia is big, dynamic property is relatively poor.Produced simultaneously cutting force all can exert an influence the defective of each parts to cutting precision along the open chain transmission.And the motion platform of parallel machine is by several simple series connection kinematic chain parallel drive, simple in structure, the stiffness/weight ratio of system is big, and response speed is fast, be fit to the high-speed numeric control operation, the precision height of basic machine is easy to restructural and modularized design, and the technical value added height (quote " current situation of parallel machine and prospect " as proof. Chen Wenjia, Wang Hongguang, Fang Lijin, Zhao Mingyang. electromechanical engineering .2001,18 (4): 5～8).
Present parallel machine product both domestic and external adopts general Stewart six-degree-of-freedom parallel robot mechanism to realize 5-axis movement mostly, but the structure of these mechanisms is all complicated, the volume ratio of working space and mechanism is less, complicated operation, the cost height, and increased cost because of driving and the transmission device of having wasted an axle.
Summary of the invention
The purpose of this invention is to provide a kind of five degree of freedom series-parallel connection Digit Control Machine Tool, it can solve existing six-degree-of-freedom parallel bed processing space complex curved surface parts, exists the volume ratio of complex structure, working space and mechanism little, complicated operation, problem that cost is high.
The present invention includes four first servomotors, fixed platform and motion platforms; The present invention also comprises four shrinking connecting-rods, second servomotor, electric main shaft, connecting axle and cutter; Described fixed platform is positioned at the top of motion platform, be connected by four shrinking connecting-rods between motion platform and the fixed platform, the upper end of described four shrinking connecting-rods is in transmission connection with first servomotor respectively, described connecting axle is contained on the wall of motion platform lower end, the electric main shaft that is rotationally connected with motion platform is housed on the connecting axle, cutter fixedly is equipped with in the lower end of electricity main shaft, and the output shaft and the connecting axle of described second servomotor are in transmission connection; Described four shrinking connecting-rods are made up of first shrinking connecting-rod, second shrinking connecting-rod, the 3rd shrinking connecting-rod and the 4th shrinking connecting-rod; The upper end of the upper end of described first shrinking connecting-rod and second shrinking connecting-rod is connected with described fixed platform by first Hooke's hinge respectively, the lower end of the lower end of described first shrinking connecting-rod and second shrinking connecting-rod is connected with described motion platform by ball pivot respectively, the upper end of the upper end of described the 3rd shrinking connecting-rod and the 4th shrinking connecting-rod is connected with fixed platform by second Hooke's hinge respectively, and the one-level revolute pair axis of described two second Hooke's hinges overlaps with Y-axis; The lower end of the lower end of described the 3rd shrinking connecting-rod and the 4th shrinking connecting-rod is connected with motion platform by revolute pair respectively, and the secondary revolute pair axis of the axis of described two revolute pairs and two second Hooke's hinges is parallel with X-axis respectively.
The present invention has following beneficial effect: one, the present invention realize by four shrinking connecting-rods of first driven by servomotor that the three-dimensional of motion platform moves and one dimension rotate (be motion platform respectively along X, Y, Z axle move and along the rotation of X), simultaneously the second driven by servomotor connecting axle rotates, and so just makes cutter on the motion platform have space three-dimensional relative to workpiece to be machined and moves and the bidimensional rotational motion.Therefore this series-parallel connection Digit Control Machine Tool can substitute traditional tandem gang tool and six-degree-of-freedom parallel bed fully and realize processing to the spatial complex curved surface part.Two, the present invention compares with traditional tandem gang tool, has higher precision and dynamic property, and simple in structure, cost is low, easy manufacturing.Three, the present invention compares with existing six-degree-of-freedom parallel bed, and is simple in structure, working space is big, cost is low.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1 present embodiment is described, present embodiment is made up of four first servomotors 1, fixed platform 2, motion platform 3, four shrinking connecting-rods 4, second servomotor 5, electric main shaft 6, connecting axle 7 and cutters 8; Described fixed platform 2 is positioned at the top of motion platform 3, be connected by four shrinking connecting-rods 4 between motion platform 3 and the fixed platform 2, the upper end of described four shrinking connecting-rods 4 is in transmission connection with first servomotor 1 respectively, described connecting axle 7 is contained on the wall of motion platform 3 lower ends, the electric main shaft 6 that is rotationally connected with motion platform 3 is housed on the connecting axle 7, cutter 8 fixedly is equipped with in the lower end of electricity main shaft 6, and the output shaft of described second servomotor 5 and connecting axle 7 are in transmission connection.
The specific embodiment two: in conjunction with Fig. 1 present embodiment is described, four shrinking connecting-rods 4 of present embodiment are made up of first shrinking connecting-rod 9, second shrinking connecting-rod 10, the 3rd shrinking connecting-rod 11 and the 4th shrinking connecting-rod 12; The upper end of the upper end of described first shrinking connecting-rod 9 and second shrinking connecting-rod 10 is connected with described fixed platform 2 by first Hooke's hinge 13 respectively, the lower end of the lower end of described first shrinking connecting-rod 9 and second shrinking connecting-rod 10 is connected with described motion platform 3 by ball pivot 14 respectively, the upper end of the upper end of described the 3rd shrinking connecting-rod 11 and the 4th shrinking connecting-rod 12 is connected with fixed platform 2 by second Hooke's hinge 15 respectively, the one-level revolute pair axis 16 of described two second Hooke's hinges 15 overlaps with Y-axis that (foundation of coordinate system is: Y-axis overlaps with the one-level revolute pair axis direction of two second Hooke's hinges 15, X-axis is in the plane of fixed platform 2, and the Z axle is vertical with Y-axis with X-axis respectively); The lower end of the lower end of described the 3rd shrinking connecting-rod 11 and the 4th shrinking connecting-rod 12 is connected with motion platform 3 by revolute pair 17 respectively, and the secondary revolute pair axis 18 of the axis of described two revolute pairs 17 and two second Hooke's hinges 15 is parallel with X-axis respectively.So be provided with, can realize motion platform 3 along X-axis, Y-axis, Z axle move and around the rotation of X-axis.
The specific embodiment three: in conjunction with Fig. 1 present embodiment is described, the axis of the connecting axle 7 of present embodiment and the axis normal of two revolute pairs 17 and with the axis place plane parallel of two revolute pairs 17.So be provided with, can realize the free degree of cutter, thereby guarantee that cutter has space three-dimensional relative to workpiece to be machined and moves and the bidimensional rotational motion along the axis rotation of connecting axle 7.
During lathe work, driving four shrinking connecting-rods 4 by four first servomotors 1 realizes as stretching motion that the three-dimensional of motion platform 3 moves with one dimension and rotates, second servomotor 5 drives connecting axle 7 rotations simultaneously, cutter moves and the bidimensional rotational motion with respect to but motion platform 3 implementation spaces are three-dimensional like this, thereby realizes the processing operation to the spatial complex curved surface part.
Claims (2)
1, a kind of five degree of freedom series-parallel connection Digit Control Machine Tool, its composition comprises four first servomotors (1), fixed platform (2) and motion platform (3); It is characterized in that described lathe also comprises four shrinking connecting-rods (4), second servomotor (5), electric main shaft (6), connecting axle (7) and cutter (8); Described fixed platform (2) is positioned at the top of motion platform (3), be connected by four shrinking connecting-rods (4) between motion platform (3) and the fixed platform (2), the upper end of described four shrinking connecting-rods (4) is in transmission connection with first servomotor (1) respectively, described connecting axle (7) is contained on the wall of motion platform (3) lower end, the electric main shaft (6) that is rotationally connected with motion platform (3) is housed on the connecting axle (7), cutter (8) fixedly is equipped with in the lower end of electricity main shaft (6), and the output shaft of described second servomotor (5) and connecting axle (7) are in transmission connection; Described four shrinking connecting-rods (4) are made up of first shrinking connecting-rod (9), second shrinking connecting-rod (10), the 3rd shrinking connecting-rod (11) and the 4th shrinking connecting-rod (12); The upper end of the upper end of described first shrinking connecting-rod (9) and second shrinking connecting-rod (10) is connected with described fixed platform (2) by first Hooke's hinge (13) respectively, the lower end of the lower end of described first shrinking connecting-rod (9) and second shrinking connecting-rod (10) is connected with described motion platform (3) by ball pivot (14) respectively, the upper end of the upper end of described the 3rd shrinking connecting-rod (11) and the 4th shrinking connecting-rod (12) is connected with fixed platform (2) by second Hooke's hinge (15) respectively, and the one-level revolute pair axis (16) of described two second Hooke's hinges (15) overlaps with Y-axis; The lower end of the lower end of described the 3rd shrinking connecting-rod (11) and the 4th shrinking connecting-rod (12) is connected with motion platform (3) by revolute pair (17) respectively, the secondary revolute pair axis (18) of the axis of described two revolute pairs (17) and two second Hooke's hinges (15) is parallel with X-axis respectively, and X-axis is vertical with Y-axis.
2, five degree of freedom series-parallel connection Digit Control Machine Tool according to claim 1, it is characterized in that the axis of described connecting axle (7) and two revolute pairs (17) axis normal and with the axis place plane parallel of two revolute pairs (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101510806A CN100503150C (en) | 2006-11-29 | 2006-11-29 | Digital control machine tool with five degrees of freedom in parallel and series |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101510806A CN100503150C (en) | 2006-11-29 | 2006-11-29 | Digital control machine tool with five degrees of freedom in parallel and series |
Publications (2)
| Publication Number | Publication Date |
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| CN1958229A CN1958229A (en) | 2007-05-09 |
| CN100503150C true CN100503150C (en) | 2009-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2006101510806A Expired - Fee Related CN100503150C (en) | 2006-11-29 | 2006-11-29 | Digital control machine tool with five degrees of freedom in parallel and series |
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Families Citing this family (7)
| 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 |
| CN102357879A (en) * | 2011-09-05 | 2012-02-22 | 北京华巍中兴电气有限公司 | Eight-degree-of-freedom series-parallel combined automatic welding robot |
| CN102513993A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Seven-range of motion carrying robot |
| CN104526684B (en) * | 2014-12-30 | 2016-09-28 | 天津大学 | A kind of high rigidity series-parallel robot realizing gravity self-balancing |
| CN105563205B (en) * | 2016-02-04 | 2018-01-23 | 燕山大学 | A kind of four branch's swallow shape five-axis machining apparatus |
| CN107139167B (en) * | 2017-07-03 | 2020-09-08 | 北华航天工业学院 | Motion bifurcation parallel mechanism |
| CN111323326B (en) * | 2020-04-22 | 2022-11-11 | 上海隧道工程有限公司 | Cutter cutting test platform |
-
2006
- 2006-11-29 CN CNB2006101510806A patent/CN100503150C/en not_active Expired - Fee Related
Non-Patent Citations (2)
| Title |
|---|
| 含有平行连杆的五自由度工业机器人动力学分析. 窦小红，许有恒，蒋正渠.上海交通大学学报，第24卷第1期. 1990 |
| 含有平行连杆的五自由度工业机器人动力学分析. 窦小红，许有恒，蒋正渠.上海交通大学学报，第24卷第1期. 1990 * |
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| CN1958229A (en) | 2007-05-09 |
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