CN101269463A - Multi-shaft linkage series-parallel machine tool - Google Patents

Multi-shaft linkage series-parallel machine tool Download PDF

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Publication number
CN101269463A
CN101269463A CN 200810104937 CN200810104937A CN101269463A CN 101269463 A CN101269463 A CN 101269463A CN 200810104937 CN200810104937 CN 200810104937 CN 200810104937 A CN200810104937 A CN 200810104937A CN 101269463 A CN101269463 A CN 101269463A
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machine tool
parallel
dimensional
freedom
closed chain
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CN 200810104937
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Chinese (zh)
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CN101269463B (en
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刘辛军
汪劲松
超 吴
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清华大学
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Abstract

The invention relates to a multiple spindle linkage series and parallel machine tool, which belongs to the production field of a numerical control machine. The machine tool mainly comprises a bed piece, a moveable platform for arranging a basic shaft, an operation platform for arranging a cut workpiece and three upright posts arranged on the bed piece; the three upright posts are distributed in a triangle shape; the guide rail of each upright post is provided with a saddle in a straight-line motion; the moveable platform is connected with the three saddles through three branched chains to form a space parallel closed chain apparatus; the space parallel closed chain apparatus is used for realizing two-dimensional motion and one-dimensional rotation motion freedom; the operation platform for arranging the cut workpiece is used for realizing one-dimensional motion and one-dimensional rotation motion freedom; the operation platform and the space parallel closed chain apparatus are used for realizing the gang control of five shafts. The multiple spindle linkage series and parallel machine tool has the advantages of simple structure, reasonable distribution, flexible and easy-control processing, large operation space, high processing precision, and realization of vertical and horizontal purposes; combined with the predominance of the serial-type and the parallel-type machine tools, the machine tool can be used for multiple spindle linkage numerical control processing of complex curved-type parts.

Description

一种多轴联动混联机床 A polyaxial joint hybrid machine

[0001] 技术领域 [0001] Technical Field

[0002] 本发明属于数控机床制造领域,涉及一种能够满足对复杂曲面类零件进行多轴联动数控加工的多轴联动混联机床。 [0002] The present invention belongs to the field of CNC machine tools, relates to a multi-axis complex surfaces meet Parts multi-axis NC machining hybrid machine.

[0003] 背景技术 [0003] BACKGROUND OF THE INVENTION

[0004] 在数控机床制造领域,传统数控机床的机械结构大多采用串联式的连接方式,使得机床容易产生误差积累,整体刚度不高,加工精度较低。 [0004] In the NC machine tool manufacturing field, the mechanical structure of a conventional CNC machine tools are mostly used tandem type connection, so that the machine prone to error accumulation, the overall rigidity is not high, low machining accuracy. 上世纪90年代,并联机床的诞生让人们看到了数控机床的希望。 In the 1990s, the birth of parallel machine tools let people see the hope of CNC machine tools. 并联机床具有结构简单、刚度高、无误差积累、运动部件质量小、易于实现高速运动等优点,在一定程度上弥补了传统数控机床的不足。 Parallel machine tool having a simple structure, high rigidity, no error accumulation, the small mass of moving parts, is easy to realize the advantages of high-speed movement, etc., to make up for deficiencies in conventional CNC machine tools to some extent. 然而,并联机床也有其天生的缺陷,尤其是6自由度并联机床,运动耦合性强、工作空间小、数控编程复杂等缺点使得并联机床的推广应用受到了较大程度的限制。 However, parallel machine tool has its birth defects, especially machine 6 DOF motion coupling, small work space, so that the disadvantages such as complex CNC programming application parallel machine tool by a greater extent. 近年来,少自由度并联机床越来越受到研究者的重视和青睐,而且一些少自由度并联机床得到了成功应用。 In recent years, more and more small DOF Parallel Machine Tool researchers' attention and favor, and some less DOF ​​parallel machine tool has been successfully applied.

[0005] 为了满足对被加工零件日益复杂和特殊的加工要求,数控机床的加工性能也需要日益提高。 [0005] In order to meet the increasingly complex and special processing of parts of processing requirements, processing performance CNC machine need increasing. 混联机床较好地综合了传统机床和并联机床的优点,此类产品在制造领域中更具有广泛的应用前景。 Hybrid machine combines the advantages of better tools and traditional parallel machine tool, such products have a more broad application prospects in the field of manufacturing.

[0006] 发明内容 [0006] SUMMARY OF THE INVENTION

[0007] 本发明的目的在于提供一种多轴联动混联机床,该机床具有结构简单、布局合理、加工灵活、易于控制、工作空间大、加工精度高和可实现立卧两用等优点,综合了串联式和并联式机床的优势,可以满足对复杂曲面类零件的多轴联动数控加工要求。 [0007] The object of the present invention is to provide a hybrid multi-axis machine tool which has a simple structure, reasonable layout, processing flexible, easy to control, a large working space, and high machining accuracy can be achieved, etc. Vertical and Horizontal, combines the advantages of tandem and parallel machine tool, multi-axis CNC machining to meet the requirements of the complex surface type parts.

[0008] 本发明提出的一种多轴联动混联机床,包括床身、安装主轴的动平台、安装被切削工件的工作台以及设置在床身上的三根立柱,该三根立柱呈三角形布置,各立柱导轨上均配置有作直线运动的滑鞍,该三个滑鞍由安装在各立柱内的电机驱动,该安装主轴的动平台通过三条支链与三个滑鞍连接形成空间并联闭链机构。 [0008] The present invention provides a proposed hybrid multi-axis machine tool, comprising a bed, a spindle mounted moving platform, is mounted in the three column bed body, the three column table shape and cutting a workpiece disposed triangular arrangement, each is configured with a linear movement on upright saddle rail, the three carriage driven by a motor mounted in each column, the mounting platform by a movable spindle with three branches are connected to form three spaces carriage parallel closed chain . 所述的空间并联闭链机构用于实现二维移动自由度和一维转动自由度,所述的安装被切削工件的工作台用于实现一维移动自由度和一维转动自由度,该工作台与空间并联闭链机构实行多达五轴的联动控制。 The spatial parallel mechanism for implementing a closed chain and the two-dimensional freedom of movement of the one-dimensional degree of freedom of rotation, said mounting table for cutting a workpiece are used to implement the one-dimensional one-dimensional freedom of movement and rotational degrees of freedom, of the working space station and parallel interlocking control means executes closed chain of up to five-axis.

[0009] 本发明的特点及技术效果 [0009] The features of the present invention and the technical effects

[0010] 本发明的混联机床的空间并联闭链机构用于实现二维移动自由度和一维转动自由度,工作台用于实现一维移动自由度和一维转动自由度,该工作台与空间并联闭链机构实行多达五轴的联动控制。 [0010] Space hybrid machine tool of the present invention, a parallel link mechanism for achieving close dimensional and one-dimensional freedom of movement of rotational freedom, one-dimensional table for implementing the one-dimensional freedom of movement and rotational degrees of freedom, the worktable spatial parallel linkage means executes closed chain of up to five-axis control.

[0011] 该机床具有以下优点:(1)结构简单;(2)刚度高;(3)数控编程简便;(4)具有较大的工作空间与机床体积比;(5)并联机构可以提供主轴较大的转动范围,能够实现立卧两用。 [0011] The machine has the following advantages: (1) simple structure; (2) stiffness; simple (3) NC program; (4) having a larger working space volume ratio of the machine; (5) a spindle parallel mechanism may be provided a large range of rotation can be achieved Vertical and Horizontal. 这些优点使该机构更易于设计和控制,其灵活度更好,加工精度更高,可以满足对复杂曲面类零件的多轴联动数控加工要求。 These advantages make the mechanism easier to design and control, the better flexibility, higher precision, multi-axis CNC machining to meet the requirements of the complex surface type parts.

[0012] 附图说明 [0012] BRIEF DESCRIPTION OF DRAWINGS

[0013] 图1是本发明新型多轴联动混联机床第一实施例的结构示意图。 [0013] FIG. 1 is a schematic structural diagram of the present invention is novel multi-axis machine tool of the first embodiment of the mixed linkage.

[0014] 图中1.机床床身,2.伺服电机四,3.绕z向转动平台,4.工件,5.支链一,6.立柱一,7.滑鞍一,8.伺服电机一,9.伺服电机二,10.立柱二,11.滑鞍二,12.支链二,13.立柱三,14.伺服电机三,15.滑鞍三,16.支链三,17.主轴,18.动平台,19.沿y向移动平台,20.伺服电机五。 [0014] FIG 1. machine bed, two servo motors IV.3. To rotation around the z platform 4. Workpiece 5. branched-chain, 6. A column, 7 a saddle, 8. Servo motor a, 9. servomotor II 10 post II 11. saddle II.12. branched II.13. column three, 14. servomotor three, 15. saddle three 16 branched triamide, 17. spindle 18 movable platform 19 to the mobile platform along the y, 20. servomotor five.

[0015] 图2是本发明新型多轴联动混联机床第二实施例的结构示意图。 [0015] FIG. 2 is a schematic view of the present invention is novel multi-axis machine tool of the second embodiment of the mixed linkage.

[0016] 图中21.机床床身,22.伺服电机四,23.绕y向转动平台,24.工件,25.支链一,26.立柱一,27.滑鞍一,28.伺服电机一,29.伺服电机二,30.立柱二,31.滑鞍二,32.支链二,33.立柱三,34.伺服电机三,35.滑鞍三,36.支链三,37.主轴,38.动平台,39.沿y向移动平台,40.伺服电机五。 [0016] FIG machine bed 21., 22. Servomotor four, 23 to rotation about the y platform 24 Workpiece, 25 branched-chain, 26 a column, 27 a saddle 28. Servo motor a, 29. servomotor II 30 column two, 31. saddle II 32 branched chain dicarboxylic, 33 column three, 34 of the servomotor three, 35. saddle three 36 branched triamide, 37. spindle 38 movable platform 39 to the mobile platform along the y, 40. servomotor five.

[0017] 具体实施方式 [0017] DETAILED DESCRIPTION

[0018] 本发明的新型多轴联动混联机床结合附图及实施例详细说明如下: [0018] The present invention is a multi-axis linkage novel hybrid machine in conjunction with the accompanying drawings and the following detailed description of embodiments:

[0019] 实施例1 [0019] Example 1

[0020] 本实施例1的结构,如图1所示,包括床身1、安装主轴17的动平台18、安装被切削工件4的工作台、设置在床身上的三根立柱6、10、13,该三根立柱呈三角形布置,立柱导轨上均配置有作直线运动的滑鞍7、11、15,该三个滑鞍分别由安装在各立柱内的伺服电机8、9、14通过滚珠丝杠来驱动;该机床的特征在于,该动平台18通过三条支链5、12、16分别与该滑鞍7、11、15相连接,形成空间并联闭链机构,该空间并联闭链机构可采用本发明人在申请号为2007100623054.2,名称为“运动解耦的空间三自由度并联机构”专利申请中所公开的各种结构,该空间并联闭链机构实现了沿x、z方向的移动自由度和绕x向的转动自由度;该工作台由绕z向转动的平台3和沿y向移动的平台19构成,该平台3、19分别由伺服电机2、20来驱动。 [0020] Structure Example 1 of the present embodiment, as shown in FIG. 1, 6, 10, comprising three column bed 1, the movable platform 17 is mounted a spindle 18, a workpiece mounting table 4 to be cut, provided on the machine bed the three triangular column arrangement, are arranged on the shank guide saddle for linear motion 7,11,15, respectively, by the three saddle 8,9,14 servomotor mounted in each column by a ball screw driven; machine characterized in that the movable platform 18 are respectively connected to the carriage by three 7,11,15 5,12,16 branched chain, closed chain in parallel to form a space, which space can be closed chain parallel the present invention 2007100623054.2 application No., various structures entitled "decoupling spatial movement three degrees of freedom parallel mechanism" as disclosed in the patent application, this space parallel to achieve a closed chain freedom of movement along the x, z direction and rotational degrees of freedom about the x-direction; the table by the rotation about the z-direction and constituting a platform 193 to the mobile platform along y, respectively the platform 3,19 2,20 driven by a servomotor.

[0021] 实施例2 [0021] Example 2

[0022] 本实施例2的结构,如图2所示,该机床与实施例1的不同之处是,该工作台由绕y向转动的平台23和沿y向移动的平台39构成,该平台23、39分别由伺服电机22、40来驱动。 [0022] Structure Example 2 of the present embodiment, as shown in FIG. 2, the machine differs from the embodiment in Example 1, this stage of the rotation about the y-stage 23 and configured to move along the y platform 39, the platform 23, 39 respectively 22, 40 driven by a servomotor.

Claims (1)

  1. 一种多轴联动混联机床,该机床主要包括床身、安装主轴的动平台、安装被切削工件的工作台以及设置在床身上的三根立柱,该三根立柱呈三角形布置,各立柱导轨上均配置有作直线运动的滑鞍,该三个滑鞍由安装在各立柱内的电机驱动,该安装主轴的动平台通过三条支链与三个滑鞍连接形成空间并联闭链机构;其特征在于,所述的空间并联闭链机构用于实现二维移动自由度和一维转动自由度,所述的安装被切削工件的工作台用于实现一维移动自由度和一维转动自由度,该工作台与空间并联闭链机构实行多达五轴的联动控制。 One kind of hybrid multi-axis machine tool which includes a bed, a spindle mounted moving platform, is mounted in the three column bed body, the three column arrangement triangular cutting a workpiece table and is provided, on each of the guide rails are upright arranged linear movement of the saddle, the saddle three driven by a motor mounted in each column, the mounting platform by a movable spindle with three branches connected to form a three carriage parallel closed chain space; characterized in that the spatial parallel mechanism for implementing a closed chain and the two-dimensional freedom of movement of the one-dimensional degree of freedom of rotation, said mounting table for cutting a workpiece are used to implement the one-dimensional one-dimensional freedom of movement and rotational degrees of freedom, the parallel bench space closed chain of up to five axis interlocking control implementation.
CN 200810104937 2008-04-25 2008-04-25 Multi-shaft linkage series-parallel machine tool CN101269463B (en)

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Cited By (13)

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CN102275087A (en) * 2011-08-12 2011-12-14 翁强 Milling guide rail structure of a four-column-side frame processing means
CN102306006A (en) * 2011-05-17 2012-01-04 大连光洋科技工程有限公司 Numerical control system for realizing parallel-series control on series numerical control system
CN103273356A (en) * 2013-04-28 2013-09-04 清华大学 Multi-axis linkage mixed device based on four-freedom-degree parallel mechanism
CN103273329A (en) * 2013-05-07 2013-09-04 天津大学 Five-axis numerical control machine tool
CN103949957A (en) * 2014-04-21 2014-07-30 清华大学 Six-axis linkage hybrid connection device based on three-freedom-degree parallel mechanism
CN104551714A (en) * 2015-01-08 2015-04-29 清华大学 Parallel mechanism with spatial two rotation and one translation freedom degrees
CN104635627A (en) * 2014-12-17 2015-05-20 河南理工大学 Precision adjusting method of five-freedom-degree serial-parallel-connection mechanism
CN104772628A (en) * 2015-03-04 2015-07-15 清华大学 Three-freedom-degree parallel-connection spindle head mechanism
CN105643295A (en) * 2016-03-23 2016-06-08 中北大学 Large-tilt-angle five-axis linkage hybrid machine tool
CN106994642A (en) * 2016-01-22 2017-08-01 香港理工大学 Series-parallel connection burnishing machine
CN107322110A (en) * 2017-07-17 2017-11-07 中北大学 A kind of ultrasonic edm combined machining spindle device and its control method
CN107756217A (en) * 2016-08-22 2018-03-06 香港理工大学 A kind of vertical connection in series-parallel burnishing machine
CN109702645A (en) * 2019-01-12 2019-05-03 枣庄北航机床创新研究院有限公司 A kind of lathe that main shaft is swingable and spindle swing angle control method

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US5656905A (en) 1995-04-03 1997-08-12 Tsai; Lung-Wen Multi-degree-of-freedom mechanisms for machine tools and the like
CN1075418C (en) 1999-04-29 2001-11-28 清华大学 Structure of machine tool with plane double-slider three-freedom virtual axle
CN1166493C (en) 2002-05-24 2004-09-15 清华大学 High-speed three axles mixed horizontal machine tool structure
CN200951497Y (en) 2005-11-15 2007-09-26 哈尔滨工业大学深圳研究生院 Two-D moving and two-D rotation parallel platform mechanism
CN100451434C (en) 2007-01-26 2009-01-14 清华大学 Moving-decoupling space three-freedom connection-in-parallel mechanism

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102306006A (en) * 2011-05-17 2012-01-04 大连光洋科技工程有限公司 Numerical control system for realizing parallel-series control on series numerical control system
CN102275087A (en) * 2011-08-12 2011-12-14 翁强 Milling guide rail structure of a four-column-side frame processing means
WO2013023409A1 (en) * 2011-08-12 2013-02-21 Weng Qiang Machine tool side machining device with frame-shaped column four-guide rail movement structure
CN103273356A (en) * 2013-04-28 2013-09-04 清华大学 Multi-axis linkage mixed device based on four-freedom-degree parallel mechanism
CN103273356B (en) * 2013-04-28 2015-09-30 清华大学 A kind of multi-axes synchronous hybrid device based on four-freedom parallel mechanism
CN103273329B (en) * 2013-05-07 2015-06-17 天津大学 Five-axis numerical control machine tool
CN103273329A (en) * 2013-05-07 2013-09-04 天津大学 Five-axis numerical control machine tool
CN103949957B (en) * 2014-04-21 2017-01-18 清华大学 Six-axis linkage hybrid connection device based on three-freedom-degree parallel mechanism
CN103949957A (en) * 2014-04-21 2014-07-30 清华大学 Six-axis linkage hybrid connection device based on three-freedom-degree parallel mechanism
CN104635627A (en) * 2014-12-17 2015-05-20 河南理工大学 Precision adjusting method of five-freedom-degree serial-parallel-connection mechanism
CN104635627B (en) * 2014-12-17 2017-03-08 河南理工大学 A kind of precision control method of five degree of freedom serial-parallel mirror mechanism
CN104551714A (en) * 2015-01-08 2015-04-29 清华大学 Parallel mechanism with spatial two rotation and one translation freedom degrees
CN104551714B (en) * 2015-01-08 2017-02-01 清华大学 Parallel mechanism with spatial two rotation and one translation freedom degrees
CN104772628A (en) * 2015-03-04 2015-07-15 清华大学 Three-freedom-degree parallel-connection spindle head mechanism
CN106994642A (en) * 2016-01-22 2017-08-01 香港理工大学 Series-parallel connection burnishing machine
CN106994642B (en) * 2016-01-22 2019-11-22 香港理工大学 Mixed connection burnishing machine
CN105643295A (en) * 2016-03-23 2016-06-08 中北大学 Large-tilt-angle five-axis linkage hybrid machine tool
CN107756217A (en) * 2016-08-22 2018-03-06 香港理工大学 A kind of vertical connection in series-parallel burnishing machine
CN107322110A (en) * 2017-07-17 2017-11-07 中北大学 A kind of ultrasonic edm combined machining spindle device and its control method
CN107322110B (en) * 2017-07-17 2019-02-26 中北大学 A kind of ultrasonic edm combined machining spindle device and its control method
CN109702645A (en) * 2019-01-12 2019-05-03 枣庄北航机床创新研究院有限公司 A kind of lathe that main shaft is swingable and spindle swing angle control method

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