CN101301725B - Series connected type A/B shaft mainshaft head structure driven by telescopic branched chain - Google Patents
Series connected type A/B shaft mainshaft head structure driven by telescopic branched chain Download PDFInfo
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- CN101301725B CN101301725B CN2008101156350A CN200810115635A CN101301725B CN 101301725 B CN101301725 B CN 101301725B CN 2008101156350 A CN2008101156350 A CN 2008101156350A CN 200810115635 A CN200810115635 A CN 200810115635A CN 101301725 B CN101301725 B CN 101301725B
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- branched chain
- telescopic
- mainshaft
- intermediate support
- revolute pair
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- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 239000002131 composite material Substances 0.000 abstract 1
- 238000010079 rubber tapping Methods 0.000 description 5
- 238000003754 machining Methods 0.000 description 3
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 2
- 240000002853 Nelumbo nucifera Species 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 102000004315 Forkhead Transcription Factors Human genes 0.000 description 1
- 108090000852 Forkhead Transcription Factors Proteins 0.000 description 1
- 239000008186 active pharmaceutical agent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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Abstract
The invention belongs to the field of mechanical manufacture equipment, in particular to a serial A/B shaft mainshaft head structure which is driven by a telescopic branched chain and can be matched with other devices so as to carry out the composite processing. The mainshaft is fixed on a mainshaft bracket which is connected with a middle bracket by two groups of coaxial rotation pairs and an upper telescopic driving branched chain A; the middle bracket is connected with a base by two groups of coaxial rotation pairs and a lower telescopic driving branched chain B; the coaxial upper rotation pair is vertical to the axis line of the coaxial lower rotation pair; the lower telescopic driving branched chain B drives the middle bracket to rotate around the lower rotation pair correspondingly to the base; the upper telescopic driving branched chain A drives the mainshaft bracket to rotate around the upper rotation pair correspondingly to the middle bracket, thus realizing the swing of the mainshaft around X-axis and Y-axis corresponding to the base. The mainshaft head can independently realize the swing around X-axis and Y-axis, control the angle change of the mainshaft by the telescopic length of the telescopic branched chain, so as to meet the requirement of the mainshaft positioning; the torque is large, the dynamic performance is good and the precision is high.
Description
Technical field
The invention belongs to the mechanical production devices field, particularly a kind of series connected type A/B shaft mainshaft head structure with the telescopic branched chain driving that can cooperate other device to carry out Compound Machining.
Background technology
General provision 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.
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 of series-mode frame that these main tappings adopt double pendulum angle or fork head more often the transmission system complexity, precision is lower, torque is lower, and be difficult to install, manufacturing cost height, maintenance cost are also higher.
Compare with the A/C shaft mainshaft head,, have advantages such as higher working (machining) efficiency, workpiece deformation be less, especially in the processing of the parts of a large amount of cuttings of needs such as large thin-wall aircraft complex structural member, have remarkable advantages though A/B shaft mainshaft head pivot angle is less.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 most of machining center equipments often only need have two axial rotations along A, B.For the needs that adapt at a high speed, high accuracy is processed, be necessary to develop a kind of and have, and separate novel two shaft mainshaft heads of lotus root mutually along A, the rotation of B axle.
Summary of the invention
The invention provides a kind of series connected type A/B shaft mainshaft head structure that drives with telescopic branched chain, it is characterized in that this structure comprises: spindle carrier 2, intermediate support 5, base 8, last telescopic drive side chain A, following telescopic drive side chain B; Main shaft 1 is fixed on the spindle carrier 2, spindle carrier 2 links to each other by two groups of coaxial revolute pairs 12 that go up with intermediate support 5, intermediate support 5 links to each other by two groups of coaxial revolute pairs 4 down with base 8, last telescopic drive side chain A is connected with intermediate support 5 with spindle carrier 2, and following telescopic drive side chain B is connected with base 8 with intermediate support 5.
The described telescopic drive side chain A that goes up is by the revolute pair 3 of Retractive leg 10 last Retractive leg 10, connections in and spindle carrier 2 and is connected Retractive leg 10 and the revolute pair 6 of intermediate support 5 is formed, described under telescopic drive side chain B by the revolute pair 7 of Retractive leg 9 and base 8 under following Retractive leg 9, the connection and under being connected the revolute pair 11 of Retractive leg 9 and intermediate support 5 form.
The axis of described coaxial upward revolute pair 12 and coaxial revolute pair 4 down is orthogonal.
Described telescopic drive side chain B down drives intermediate support 5 and does around the motion of revolute pair 4 down with respect to base 8, last telescopic drive side chain A drive shaft support 2 is done with respect to the motion of intermediate support 5 around last revolute pair 12, thereby has realized that spindle carrier 2 is with respect to the swing of base 8 around X, two axles of Y.
The invention has the beneficial effects as follows: described spindle carrier has two independent rotation frees degree, two branches realize a rotational freedom of spindle carrier respectively, the pivot angle of spindle carrier is generally ± and 45 °, maximum can reach 60 ° in soil, can satisfy job requirement fully; Torque is big, and dynamic property is good, the precision height, and A, B axle rotate separates lotus root mutually; The present invention also has simple structure, can cooperate other devices to carry out the characteristics of high-speed, high precision Compound Machining, is widely used on lathe.
Description of drawings
Fig. 1 is the structural representation of first kind of embodiment of structure of the present invention;
Fig. 2 is the structural representation of second kind of embodiment of structure of the present invention;
Number in the figure:
The 1-main shaft; The 2-spindle carrier; The revolute pair of Retractive leg 10 and spindle carrier 2 in the 3-connection;
The coaxial revolute pair down of 4-; The 5-intermediate support; The revolute pair of Retractive leg 10 and intermediate support 5 in the 6-connection;
The revolute pair of Retractive leg 9 and base 8 under 7-connects; The 8-base; Retractive leg under the 9-;
The last Retractive leg of 10-; The revolute pair of Retractive leg 9 and intermediate support 5 under 11-connects; The coaxial revolute pair that goes up of 12-;
The last telescopic drive side chain of A-; Telescopic drive side chain under the B-.
The specific embodiment
The invention provides a kind of series connected type A/B shaft mainshaft head structure that drives with telescopic branched chain, the present invention further specified below in conjunction with drawings and Examples:
Fig. 1 is the structural representation of first kind of embodiment of structure of the present invention.Main shaft 1 is fixed on the spindle carrier 2; Spindle carrier 2 links to each other with last telescopic drive side chain A by two groups of coaxial revolute pairs 12 that go up with intermediate support 5, intermediate support 5 links to each other with following telescopic drive side chain B by two groups of coaxial revolute pairs 4 down with base 8, and the axis of coaxial upward revolute pair 12 and coaxial revolute pair 4 down is orthogonal and crossing; Last telescopic drive side chain A is by the revolute pair 3 of Retractive leg 10 in last Retractive leg 10, the connection and spindle carrier 2 and be connected Retractive leg 10 and the revolute pair 6 of intermediate support 5 is formed, following telescopic drive side chain B by Retractive leg 9 down, connect the revolute pair 7 of Retractive leg 9 and base 8 down and be connected down the revolute pair 11 of Retractive leg 9 and intermediate support 5 and form.Last telescopic drive side chain A drive shaft support 2 is done with respect to the motion of intermediate support 5 around revolute pair 12, wherein goes up Retractive leg 10 and is the motion enter key; Following telescopic drive side chain B drives intermediate support 5 and does motion around revolute pair 4 with respect to base 8, and wherein descend Retractive leg 9 is the motion input component, thereby has realized that spindle carrier 2 is with respect to the swing of base 8 around X, two axles of Y.The advantage of this structure is: guaranteed that spindle carrier is in full accord in the kinetic characteristic that X, Y both direction rotate, and compact conformation, but easily interfere.
Fig. 2 is the structural representation of second kind of embodiment of structure of the present invention, and this structure is identical with the connected mode of first each parts of embodiment, and difference is, the coaxial axis normal that goes up revolute pair 12 and coaxial revolute pair 4 down but non-intersect.The advantage of this structure is: can realize bigger deflection angle; Be difficult for interfering.
More than though embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various distortion or modification within the scope of the appended claims.
Claims (4)
1. A/B shaft mainshaft head structure that drives with telescopic branched chain, this structure comprises: spindle carrier (2), intermediate support (5), base (8), last telescopic drive side chain A, following telescopic drive side chain B, it is characterized in that, main shaft (1) is fixed on the spindle carrier (2), spindle carrier (2) links to each other by two groups of coaxial revolute pairs (12) that go up with intermediate support (5), intermediate support (5) links to each other by two groups of coaxial revolute pairs (4) down with base (8), and last telescopic drive side chain A is connected with intermediate support (5) with spindle carrier (2), and following telescopic drive side chain B is connected with base (8) with intermediate support (5).
2. a kind of A/B shaft mainshaft head structure that drives with telescopic branched chain according to claim 1, it is characterized in that, the described telescopic drive side chain A that goes up is by the revolute pair (3) of Retractive leg (10) last Retractive leg (10), connections in and spindle carrier (2) and is connected Retractive leg (10) and the revolute pair (6) of intermediate support (5) is formed, described under telescopic drive side chain B by the revolute pair (7) of Retractive leg (9) and base (8) under following Retractive leg (9), the connection and under being connected the revolute pair (11) of Retractive leg (9) and intermediate support (5) form.
3. a kind of A/B shaft mainshaft head structure that drives with telescopic branched chain according to claim 1 is characterized in that, the axis of described coaxial upward revolute pair (12) and coaxial revolute pair (4) down is orthogonal.
4. a kind of A/B shaft mainshaft head structure that drives with telescopic branched chain according to claim 1, it is characterized in that, described telescopic drive side chain B down drives intermediate support (5) and does around the motion of revolute pair (4) down with respect to base (8), the described telescopic drive side chain A drive shaft support (2) of going up is done with respect to the motion of intermediate support (5) around last revolute pair (12), thereby has realized that spindle carrier (2) is with respect to the swing of base (8) around X, two axles of Y.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101156350A CN101301725B (en) | 2008-06-26 | 2008-06-26 | Series connected type A/B shaft mainshaft head structure driven by telescopic branched chain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101156350A CN101301725B (en) | 2008-06-26 | 2008-06-26 | Series connected type A/B shaft mainshaft head structure driven by telescopic branched chain |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101301725A CN101301725A (en) | 2008-11-12 |
| CN101301725B true CN101301725B (en) | 2010-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101156350A Expired - Fee Related CN101301725B (en) | 2008-06-26 | 2008-06-26 | Series connected type A/B shaft mainshaft head structure driven by telescopic branched chain |
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| CN (1) | CN101301725B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105583558A (en) * | 2016-03-24 | 2016-05-18 | 褚宏鹏 | Novel two-rotation welding robot joint |
| CN107617890B (en) * | 2017-10-18 | 2019-11-19 | 北京交通大学 | It is a kind of with the redundantly driven parallel bed executing agency for evading Strange properties |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5715729A (en) * | 1994-11-29 | 1998-02-10 | Toyoda Koki Kabushiki Kaisha | Machine tool having parallel structure |
| CN1454753A (en) * | 2003-06-20 | 2003-11-12 | 北京工业大学 | Series-parallel micro operation parallel-connection robot mechanical apparatus |
| CN1269619C (en) * | 2003-11-28 | 2006-08-16 | 清华大学 | Spatial five freedom degree parallel robot mechanism |
| CN1958229A (en) * | 2006-11-29 | 2007-05-09 | 哈尔滨工业大学 | Digital control machine tool with five degrees of freedom in parallel and series |
| CN101003118A (en) * | 2007-01-19 | 2007-07-25 | 清华大学 | Structure of spindle head of parallel type A/B axes |
-
2008
- 2008-06-26 CN CN2008101156350A patent/CN101301725B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5715729A (en) * | 1994-11-29 | 1998-02-10 | Toyoda Koki Kabushiki Kaisha | Machine tool having parallel structure |
| CN1454753A (en) * | 2003-06-20 | 2003-11-12 | 北京工业大学 | Series-parallel micro operation parallel-connection robot mechanical apparatus |
| CN1269619C (en) * | 2003-11-28 | 2006-08-16 | 清华大学 | Spatial five freedom degree parallel robot mechanism |
| CN1958229A (en) * | 2006-11-29 | 2007-05-09 | 哈尔滨工业大学 | Digital control machine tool with five degrees of freedom in parallel and series |
| CN101003118A (en) * | 2007-01-19 | 2007-07-25 | 清华大学 | Structure of spindle head of parallel type A/B axes |
Non-Patent Citations (4)
| Title |
|---|
| 刘辛军，汪劲松，高峰.并联六自由度微动机器人机构的设计方法.清华大学学报(自然科学版)41 8.2001,41(8),16-20. |
| 刘辛军,汪劲松,高峰.并联六自由度微动机器人机构的设计方法.清华大学学报(自然科学版)41 8.2001,41(8),16-20. * |
| 范伟，彭光正，高建英，宁汝新.气动人工肌肉驱动三自由度球面并联机器人关节的位置控制研究.液压气动与密封 6.2003,(6),1-5. |
| 范伟,彭光正,高建英,宁汝新.气动人工肌肉驱动三自由度球面并联机器人关节的位置控制研究.液压气动与密封 6.2003,(6),1-5. * |
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| CN101301725A (en) | 2008-11-12 |
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