CN101138826A - Five-freedom five-shaft parallel virtual-shaft machine tool - Google Patents
Five-freedom five-shaft parallel virtual-shaft machine tool Download PDFInfo
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- CN101138826A CN101138826A CNA2006101220165A CN200610122016A CN101138826A CN 101138826 A CN101138826 A CN 101138826A CN A2006101220165 A CNA2006101220165 A CN A2006101220165A CN 200610122016 A CN200610122016 A CN 200610122016A CN 101138826 A CN101138826 A CN 101138826A
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Abstract
A 5-dof (degree of freedom) virtual axis machine with five axes in parallel has a structure that a moving station is connected with a fixed station by five connecting rods which are connected with the moving station by a hinge and which are connected with the fixed station by a motion cutting. Each connecting rod can be retractable or with a fixed length. The moving station is equipped with a motorized spindle and a cutting tool. The present invention has an obviously reduced systematic motion nonlinearity and coupling degree, a good processing and assembling manufacturability and low cost and can be widely applied to the processes of space curved surfaces (such as die, an impeller, a helical gear).
Description
Technical field
The invention belongs to mechanical manufacturing field, particularly a kind of five-freedom five-shaft parallel virtual-shaft machine tool.
Background technology
Digit Control Machine Tool is the visual plant of machine-building, and the quality of its performance indicates a manufacturing level of country.Over past ten years, a kind of new concept lathe has appearred in the world---and virtual-shaft machine tool (VirtualAxisMachine T001) also is referred to as six pin lathes (6-Leg Machine T001) or parallel machine (ParallelMachine T001).Virtual-shaft machine tool is the hot subject that numerical control research field is in the world paid special attention to, and Chinese scholars is made number of research projects.Virtual-axis nc machine tool is knowledge-intensive, intellect-intensive, technology-intensive electromechanical integration high-tech product, is the intersection of multidisciplinary application technologies such as parallel robot, numerical controlled machinery, computer control, accurate measurement, digital control processing.Virtual-shaft machine tool adopts parallel-connection structure, has advantages such as degree of modularity height, heavy moving parts are light, low cost of manufacture.Compare with traditional machine tool, virtual-shaft machine tool has been because of having adopted the form of tool motion, thereby improved performances such as its speed, acceleration, precision and rigidity.
In " dynamo-electric information " 1998 (1): report among the 25-24,1994, on Chicago IMTS is look at meeting (IMTS ' 94), the U.S. long-pending left alone without help this and this (Giddings﹠amp of Lightware; Lewis) company and put on display for the first time VARIAX and HOH600 virtual-shaft machine tool in the world because of pavilion ear plug (Ingersoll) company.Domestic and international after this many scholars and famous lathe manufactory all pay special attention to the design theory research of virtual-shaft machine tool and the development of model machine." world's manufacturing technology and EQUIPMENT MARKET GUIDE " 1998 (1): report among the 17-21, EMO (EMO in 97 years, 97) on, a virtual-shaft machine tool model machine surplus university such as the U.S., Japan, Germany, Switzerland, Russia and lathe manufacturer have put on display 10.
" manufacturing technology and lathe " 1998 (2): report among the 42-45 that Tsing-Hua University has developed the VAMTIY type, Harbin Institute of Technology has developed the machine-tool with 6-freedom virtual axle model machine, and University Of Tianjin has developed three-freedom virtual axle lathe model machine.These virtual-shaft machine tools have impacted year constant always tradition by Cartesian coordinate System Design lathe surplus the lathe 200 in modern age consumingly, it is believed that virtual-shaft machine tool will be the form of 21 century new concept lathe.
Although but having many scholars, school and lathe manufacturer to develop multiple virtual-shaft machine tool model machine these virtual-shaft machine tool model machines both at home and abroad all is to adopt six-degree-of-freedom parallel connection mechanism to realize 5-axis movement, the driving and the transmission device of an axle have not only been wasted, and the lathe cost is improved relatively, and control and manufacture difficulty have been increased.Do not find five-freedom five-shaft parallel mechanism in addition both at home and abroad as yet.
Summary of the invention
The objective of the invention is to overcome weak point of the prior art and a kind of five-freedom five-shaft parallel virtual-shaft machine tool (FG5VI) MT is provided).
Technical solution of the present invention is as follows:
The structure of five-freedom five-shaft parallel virtual-shaft machine tool is, the motion platform is connected with fixed station by five connecting rods, and five connecting rods are the hinges that is distributed on the motion platform with being connected of motion platform, and five connecting rods are the kinematic pairs that is distributed on the fixed station with being connected of fixed station.Adorning electric main shaft and cutter on the motion platform.
Every connecting rod can be a shrinking connecting-rod in five connecting rods, also can be the fixed length connecting rod.
Kinematic pair on the fixed station is hinge or moving sets or revolute pair.
Moving sets is made up of slideway on the fixed station panel and slide block, and slide block is contained on the slideway, is adorning hinge on the slide block, and the fixed length connecting rod is connected with slide block by hinge.
Revolute pair is to connect crank on the fixed axis of fixed station, and the other end of crank is being adorned hinge, and the fixed length connecting rod is connected with crank by hinge.
Hinge can be a ball pivot, also can be Hooke's hinge.
The two ends that must have a connecting rod and motion platform to be connected with fixed station in five connecting rods all are Hooke's hinges, every connecting rod must all be a ball pivot with the two ends that are connected of motion platform and fixed station or fixed station top shoe in all the other four connecting rods, or one end be ball pivot, the other end is a Hooke's hinge.
The present invention compared with prior art has following advantage:
1, parallel machine of the present invention is compared with traditional tandem gang tool, has high rigidity, high accuracy, and the harmonic motion quality, high dynamic performance, simple structure, identical parts quantity is many, and cost is low, characteristics such as easy manufacturing.
2, parallel machine of the present invention is compared with existing six degree of freedom five-shaft parallel lathe, and simple in structure, the system motion nonlinearity and the degree of coupling obviously reduce, and control algolithm is simple, and cost is low.
3, five-freedom five-shaft parallel virtual-shaft machine tool processing and assembling of the present invention is good.
4, five-freedom five-shaft parallel virtual-shaft machine tool of the present invention has a wide range of applications in space curved surface processing.
Description of drawings
The drawing of accompanying drawing is described as follows: Fig. 1 is the structural representation of FG5VPMT.1 type five-freedom five-shaft parallel virtual-shaft machine tool of the present invention:
Fig. 2 is the schematic diagram of mechanism of FG5VPMT-1 type five-freedom five-shaft parallel virtual-shaft machine tool of the present invention;
Fig. 3 is the structural representation of FG5VPMT-2 type five-freedom five-shaft parallel virtual-shaft machine tool of the present invention;
Fig. 4 is the schematic diagram of mechanism of FG5VPMT-2 type five-freedom five-shaft parallel virtual-shaft machine tool of the present invention;
Fig. 5 is the structural representation of FG5VPMT-3 type five-freedom five-shaft parallel virtual-shaft machine tool of the present invention;
Fig. 6 is the schematic diagram of mechanism of FG5VPMT-3 type five-freedom five-shaft parallel virtual-shaft machine tool of the present invention;
Fig. 7 is the structural representation of FG5VPMT-4 type five-freedom five-shaft parallel virtual-shaft machine tool of the present invention;
Fig. 8 is the schematic diagram of mechanism of FG5VPMT-4 type five-freedom five-shaft parallel virtual-shaft machine tool of the present invention.
Fig. 9 is the structural representation of FG5VPMT-5 type five-freedom five-shaft parallel virtual-shaft machine tool of the present invention;
Figure 10 is the schematic diagram of mechanism of FG5VPMT-5 type five-freedom five-shaft parallel virtual-shaft machine tool of the present invention;
Figure 11 is the structural representation of FG5VPMT-6 type five-freedom five-shaft parallel virtual-shaft machine tool of the present invention;
Figure 12 is the schematic diagram of mechanism of FG5VPMT-6 type five-freedom five-shaft parallel virtual-shaft machine tool of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are described in further detail:
Embodiment 1:FGSVPMT-1 type five-freedom five-shaft parallel virtual-shaft machine tool
FG5VPMT-1 type five-freedom five-shaft parallel virtual-shaft machine tool structure as shown in Figure 1 and Figure 2, motion platform (20) is connected with the fixed station of being made up of three mutually perpendicular side panels (1), item panel (12), backplate (14) by five connecting rods (3), (9), (10), (16), (19), and the kinematic pair that five connecting rods are connected with the motion platform is distributed on three orthogonal planes of motion platform.Two two Zhi Dingchang connecting rods (3) are connected with (6), two vertical planes in (26) and (27) and motion platform by ball pivot (2) respectively with (19) with (9), (16), two two Zhi Dingchang connecting rods (3) and (9), (16) and (19) are connected with (18) with (7), (15) with slide block (5) on fixed station side panel (1), the backplate (14) by Hooke's hinge (4) and (8), (24) and (25) respectively, slide block (5) and (7) are contained on the slideway of side panel (1), and slide block (15) and (18) are contained on the slideway of backplate (14).One end of single Zhi Dingchang connecting rod (10) is connected with another plane of motion platform by Hooke's hinge (17), the other end of single Zhi Dingchang connecting rod (10) is connected with slide block (13) on the fixed station top panel (12) by Hooke's hinge (11), and slide block (13) is contained in the slideway of top panel (12).Adorn electric main shaft and cutter (21) on the motion platform, adorning processing work (22) on the base (23).
Lathe of the present invention is integrated, and motion workbench, three mutually perpendicular planes of fixed station, three connecting rods and Hooke's hinge thereof, ball pivot, moving sets are one.Slide block (5), (7), (13), (15), (18), electric main shaft are connected with external power source.Motion platform (20) and cutter (21) are realized the 5-axis movement that moves and rotate around the bidimensional of x, Y-axis along the three-dimensional of XYZ axle by moving of slide block (5), (7), (13), (15), (18), thereby finish the machining to workpiece (22).
Embodiment 2-FG5VPMT-2 type five-freedom five-shaft parallel virtual-shaft machine tool
FG5VPMT-2 type five-freedom five-shaft parallel virtual-shaft machine tool structure as shown in Figure 3, Figure 4, motion platform (46) is connected with the fixed station of being made up of three mutually perpendicular side panels (28), top panel (38), backplate (40) by five connecting rods (30), (36), (37), (42), (45), and the kinematic pair that five connecting rods are connected with the motion platform is distributed on three orthogonal planes of motion platform.Two two Zhi Dingchang connecting rods (30) are connected with (33), two vertical planes in (52) and (53) and motion platform by ball pivot (29) respectively with (45) with (36), (42), two two Zhi Dingchang connecting rods (30) and (36), (42) and (45) are connected with (44) with (34), (41) with slide block (32) on fixed station side panel (28), the backplate (40) by Hooke's hinge (31) and (35), (50) and (51) respectively, slide block (32) and (34) are contained on the slideway of side panel (28), and slide block (41) and (44) are contained on the slideway of backplate (40).One end of single shrinking connecting-rod (37) is connected with another plane of motion platform by Hooke's hinge (43), and the other end of single shrinking connecting-rod (37) is connected with fixed station item panel (38) by Hooke's hinge (39).Adorn electric main shaft and cutter (47) on the motion platform, adorning processing work (48) on the base (49).Slide block (32), (34), (41), (44), shrinking connecting-rod (37), electric main shaft are connected with external power source.Motion platform (46) and cutter (47) are by slide block (32), (34), two Zhi Dingchang connecting rods (3) and (9), (16) and (19) respectively by ball pivot (2) and (6), (26) be connected with two vertical planes of (27) and motion platform, two two Zhi Dingchang connecting rods (3) and (9), (16) and (19) respectively by Hooke's hinge (4) and (8), (24) and (25) and fixed station side panel (1), slide block (5) and (7) on the backplate (14), (15) be connected with (18), slide block (5) and (7) are contained on the slideway of side panel (1), and slide block (15) and (18) are contained on the slideway of backplate (14).One end of single Zhi Dingchang connecting rod (10) is connected with another plane of motion platform by Hooke's hinge (17), the other end of single Zhi Dingchang connecting rod (10) is connected with slide block (13) on the fixed station top panel (12) by Hooke's hinge (11), and slide block (13) is contained in the slideway of top panel (12).Adorn electric main shaft and cutter (21) on the motion platform, adorning processing work (22) on the base (23).
Lathe of the present invention is integrated, and motion workbench, three mutually perpendicular planes of fixed station, three connecting rods and Hooke's hinge thereof, ball pivot, moving sets are one.Slide block (5), (7), (13), (15), (18), electric main shaft are connected with external power source.Motion platform (20) and cutter (21) are realized the 5-axis movement that moves and rotate around the bidimensional of x, Y-axis along the three-dimensional of XYZ axle by moving of slide block (5), (7), (13), (15), (18), thereby finish the machining to workpiece (22).
Embodiment 2-FG5VPMT-2 type five-freedom five-shaft parallel virtual-shaft machine tool
FG5VPMT-2 type five-freedom five-shaft parallel virtual-shaft machine tool structure as shown in Figure 3, Figure 4, motion platform (46) is connected with the fixed station of being made up of three mutually perpendicular side panels (28), top panel (38), backplate (40) by five connecting rods (30), (36), (37), (42), (45), and the kinematic pair that five connecting rods are connected with the motion platform is distributed on three orthogonal planes of motion platform.Two two Zhi Dingchang connecting rods (30) are connected with (33), two vertical planes in (52) and (53) and motion platform by ball pivot (29) respectively with (45) with (36), (42), two two Zhi Dingchang connecting rods (30) and (36), (42) and (45) are connected with (44) with (34), (41) with slide block (32) on fixed station side panel (28), the backplate (40) by Hooke's hinge (31) and (35), (50) and (51) respectively, slide block (32) and (34) are contained on the slideway of side panel (28), and slide block (41) and (44) are contained on the slideway of backplate (40).One end of single shrinking connecting-rod (37) is connected with another plane of motion platform by Hooke's hinge (43), and the other end of single shrinking connecting-rod (37) is connected with fixed station item panel (38) by Hooke's hinge (39).Adorn electric main shaft and cutter (47) on the motion platform, adorning processing work (48) on the base (49).Slide block (32), (34), (41), (44), shrinking connecting-rod (37), electric main shaft are connected with external power source.Motion platform (46) is connected with external power source by slide block (32), (34), (79), (83), (84), (89) (92), electric main shaft with cutter (47).Motion platform (93) and cutter (94) are realized the 5-axis movement that moves and rotate around the bidimensional of x, Y-axis along the three-dimensional of XYZ axle by moving of five shrinking connecting-rods (79) and (83), (84), (89) and (92), thereby finish the machining to workpiece (95).
Claims (10)
1. five-freedom five-shaft parallel virtual-shaft machine tool, comprise fixed station, motion platform, be connected and fixed the connecting rod of platform and motion platform, it is characterized in that: the motion platform is connected with fixed station by five connecting rods, five connecting rods are the hinges that is distributed on the motion platform with being connected of motion platform, five connecting rods are the kinematic pairs that is distributed on the fixed station with being connected of fixed station, are adorning electric main shaft and cutter on the motion platform.
2. according to the said five-freedom five-shaft parallel virtual-shaft machine tool of claim 1, it is characterized in that: every connecting rod can be a shrinking connecting-rod in five connecting rods, also can be the fixed length connecting rod.
3. according to the said five-freedom five-shaft parallel virtual-shaft machine tool of claim 1, its spy is: the kinematic pair on the fixed station is hinge or moving sets or revolute pair.
4. according to the said moving sets of claim 3, it is characterized in that: moving sets is made up of slideway on the fixed station panel and slide block, and slideway is arranged on the panel, is adorning slide block on the slideway, is adorning hinge on the slide block, and the fixed length connecting rod is connected with slide block by hinge.
5. according to the said revolute pair of claim 3, it is characterized in that: revolute pair is to connect crank on the fixed axis of fixed station, and the other end of crank is being adorned hinge, and the fixed length connecting rod is connected with crank by hinge.
6. according to the said five-freedom five-shaft parallel virtual-shaft machine tool of claim 1 to 5, it is characterized in that: hinge can be a ball pivot, also can be Hooke's hinge.
7. according to the said five-freedom five-shaft parallel virtual-shaft machine tool of claim 1 to 5, it is characterized in that: it all is Hooke's hinge that a connecting rod and motion platform and being connected of slide block on fixed station or the fixed station must be arranged in five connecting rods, and the two ends that are connected of the slide block in all the other four connecting rods on every connecting rod and motion platform and fixed station or the fixed station all are ball pivots.
8. according to the said five-freedom five-shaft parallel virtual-shaft machine tool of claim 1 to 5, it is characterized in that: it all is Hooke's hinge that a connecting rod and motion platform and being connected of slide block on fixed station or the fixed station must be arranged in five connecting rods, in all the other four connecting rods every connecting rod and motion platform and fixed station or fixed station top shoe to be connected two ends one end be ball pivot, the other end is a Hooke's hinge.
9. according to the said five-freedom five-shaft parallel virtual-shaft machine tool of claim 6, it is characterized in that: it all is Hooke's hinge that a connecting rod and motion platform and being connected of slide block on fixed station or the fixed station must be arranged in five connecting rods, and the two ends that are connected of the slide block in all the other four connecting rods on every connecting rod and motion platform and fixed station or the fixed station all are ball pivots.
10. according to the said five-freedom five-shaft parallel virtual-shaft machine tool of claim 6, it is characterized in that: it all is Hooke's hinge that a connecting rod and motion platform and being connected of slide block on fixed station or the fixed station must be arranged in five connecting rods, in all the other four connecting rods every connecting rod and motion platform and fixed station or fixed station top shoe to be connected two ends one end be ball pivot, an end is a Hooke's hinge.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2006101220165A CN101138826A (en) | 2006-09-08 | 2006-09-08 | Five-freedom five-shaft parallel virtual-shaft machine tool |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2006101220165A CN101138826A (en) | 2006-09-08 | 2006-09-08 | Five-freedom five-shaft parallel virtual-shaft machine tool |
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| CN101138826A true CN101138826A (en) | 2008-03-12 |
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| CNA2006101220165A Withdrawn CN101138826A (en) | 2006-09-08 | 2006-09-08 | Five-freedom five-shaft parallel virtual-shaft machine tool |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990653A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two asymmetric closed-loop sub-chains |
| CN105726086A (en) * | 2016-04-28 | 2016-07-06 | 广东工业大学 | Medical five-axis bone drilling device |
| CN109352631A (en) * | 2018-12-03 | 2019-02-19 | 燕山大学 | Three branch's five degree of freedom parallel connection platforms |
-
2006
- 2006-09-08 CN CNA2006101220165A patent/CN101138826A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102990653A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism containing two asymmetric closed-loop sub-chains |
| CN105726086A (en) * | 2016-04-28 | 2016-07-06 | 广东工业大学 | Medical five-axis bone drilling device |
| CN109352631A (en) * | 2018-12-03 | 2019-02-19 | 燕山大学 | Three branch's five degree of freedom parallel connection platforms |
| CN109352631B (en) * | 2018-12-03 | 2020-08-25 | 燕山大学 | Three-branch five-degree-of-freedom parallel platform |
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