CN101323089B - Three-axis series-multiple connection compound mainshaft head mechanism - Google Patents
Three-axis series-multiple connection compound mainshaft head mechanism Download PDFInfo
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- CN101323089B CN101323089B CN2008101503939A CN200810150393A CN101323089B CN 101323089 B CN101323089 B CN 101323089B CN 2008101503939 A CN2008101503939 A CN 2008101503939A CN 200810150393 A CN200810150393 A CN 200810150393A CN 101323089 B CN101323089 B CN 101323089B
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Abstract
The invention discloses a composite spindle head mechanism with tri-axial series-parallel connection, which consists of a feeding mechanism with tri-axial series-parallel connection and a composite spindle head. The feeding mechanism with tri-axial series-parallel connection consists of a biaxial parallel mechanism and a rotary shaft component which are connected in series, the biaxial parallel mechanism consists of a moving platform and two same branches, each of which comprises a sliding pair, two rotary pairs, a connecting rod, a compound rod and a hook scissors, a compound hook scissors on the moving platform and the rotary pairs are arranged with a certain angle, and a compound spindle head with compound processing function consists of a shell of the spindle head, an electric spindle and a turning tool. The compound spindle head mechanism of the invention combines the feeding mechanism with tri-axial series-parallel connection and the composite spindle head, has two linear feeding motions and a rotary feeding motion and is used for milling and lathing a compound machine tool, thus not increasing feeding axle of the machine tool, adding feeding motions of lathe machining and improving force condition and specific stiffness of a minor-freedom mechanism.
Description
Technical field
The present invention relates to a kind of mainshaft head mechanism of Digit Control Machine Tool, be specifically related to the three-axis series-multiple connection compound mainshaft head mechanism that a kind of parallel connection and serial connection combines.
Background technology
The mainshaft head mechanism of lathe is by the spindle assemblies of realizing main motion and directly drive the individual components that its feeder assembly of doing feed motion is formed, and the kinematic axis number of feeder assembly is called the number of axle of mainshaft head mechanism in the individual components.The mainshaft head mechanism of traditional machine tool adopts the series connection principle mechanism, and for example the mainshaft head mechanism of 5 serial number control milling machines (machining center) has three types: only comprise that 1) spindle unit, the feed motion number of axle are zero; 2) comprise spindle assemblies and A axle swivel feeding assembly, a swivel feeding motion is arranged, the feed motion number of axle is one; 3) comprise spindle assemblies and C axle and A axle swivel feeding assembly, have two swivel feeding motions, the feed motion number of axle is two.
The series connection principle mechanism has that working space is big, the simple advantage of motion control arithmetic; Each kinematic error adds up, the rigidity of structure weak, moving-mass is big, feed speed can not too high shortcoming but exist.
The principle of parallel mainshaft head mechanism has two parallel connections and three parallel connections, and every type mainshaft head mechanism comprises multiple configuration and version, De Guo three parallel main shaft head mechanisms for example, constitute by a straight-line feed motion and two swivel feeding motions, two parallel main shaft head mechanisms of Japan comprise two straight-line feed motions.
Six degree of freedom (promptly six) fully principle of parallel mechanism has that the movement parts quality is little, speed is high, specific stiffness is high, kinematic error does not add up, advantage of high precision; But its working space is little, and especially gyration scope is little, the motion algorithm complexity.
The pluses and minuses of the complete principle of parallel of principle mechanism and six degree of freedom of connecting fully mechanism are just the opposite, the two is combined the parallel-series principle mechanism that has two kinds of mechanism's advantages concurrently of formation, have very high practical value, thereby various countries competitively carry out the research and development of parallel-series principle mechanism.
The parallel-series principle mainshaft head mechanism comprises serial mechanism and parallel institution, and parallel institution is generally two parallel institutions or three-axis parallel, belongs to lower-mobility (free degree is less than six) parallel institution.The rigidity height of the complete principle of parallel of six degree of freedom mechanism, each connecting rod only bear pressure, do not have bending, and force-bearing situation obviously is better than the principle mechanism of connecting.The lower-mobility parallel institution is compared with the complete parallel institution of six degree of freedom, and working space increases, but mechanism's force-bearing situation is relatively poor, specific stiffness is lower.Therefore, how can bring into play the advantage of lower-mobility parallel-series principle mechanism, can improve its force-bearing situation again, be a new problem of research parallel-series principle mechanism, significant to the innovation research exploitation that promotes hybrid mechanism.
Composite processing machine tool has multiple machining functions, can with the multi-step process of workpiece in addition all operation concentrate on a machine tool and carry out, make the process intensification of workpiece, reduce error that workpiece repeats to install the location, reduce the time of preparing frock, the non-cutting times such as stand-by period, loading and unloading and clamping of reducing the inter process conversion, improved productivity ratio, and shortened logistics system, make the floor space of system of processing significantly reduce.Multi-functional composite processing machine tool possesses many advantages, make and competitively research and develop both at home and abroad, for example the smart mechanism of day Benson do to be developed based on the turning function, have the 5LC type numerical control compound lathe of milling function concurrently, Italian Mandelli company develop based on the milling function, have the Mandelli 800U type horizontal Machining centers of turning function concurrently.
Existing milling spindle head and the turning head that mills the car combined machine independently is provided with separately, and the feed motion of turning head need be set, and increased the numerical control number of axle of Digit Control Machine Tool.The function of turning is the processing surface of revolution, mills the Milling Process that the car combined machine is mainly used in workpiece, and 5 milled the car combined machine and adopt the standard cylindrical milling cutter, almost can replace turning to process all surfaces of revolution, but be difficult to carry out the grooving and the cut-out of the surface of revolution.Therefore research and develop based on the milling function, have the turning function concurrently, and do not increase the compound mainshaft head mechanism that mills the car combined machine motion number of axle, significant to the development of milling the car combined machine.
Summary of the invention
The purpose of this invention is to provide a kind of three-axis series-multiple connection compound mainshaft head mechanism, milling or grinding spindle head and turning head are combined, do not increasing under the situation of milling the car combined machine motion number of axle, realize the feed motion of turning processing, simultaneously, realize rotating main motion and a revolution and two three feed motions that straight line moves, not only had lower-mobility parallel-series principle mechanism advantage, but also can improve its force-bearing situation, and when keeping the big advantage of lower-mobility parallel institution working space, make that the force-bearing situation of mechanism improves, specific stiffness improves.
The technical solution adopted in the present invention is, a kind of three-axis series-multiple connection compound mainshaft head mechanism is made of three-axis series-multiple connection feed mechanism and compound mainshaft head, and the three-axis series-multiple connection feed mechanism is composed in series by a diaxon parallel institution and a gyroaxis assembly.
Feature of the present invention also is,
The diaxon parallel institution comprises horizontally disposed straight line moving assembly I and straight line moving assembly II, be connected with mounting blocks I on the slide unit of straight line moving assembly I, mounting blocks I is respectively by rotary pair I, Hooke's hinge II and Hooke's hinge I and connecting rod I, the end of connecting rod II and connecting rod III is connected, the other end of connecting rod I is connected with moving platform by rotary pair II, the other end of connecting rod II and connecting rod III is connected with moving platform by compound Hooke's hinge I, be connected with mounting blocks II on the slide unit of straight line moving assembly II, mounting blocks II is respectively by rotary pair IV, Hooke's hinge IV and Hooke's hinge III and connecting rod IV, the end of connecting rod V and connecting rod VI is connected, the other end of connecting rod IV is connected with moving platform by rotary pair III, connecting rod V and connecting rod VI are by being connected with moving platform with compound Hooke's hinge II, connecting rod II and connecting rod III constitute a coupled pole, and connecting rod V and connecting rod VI constitute another coupled pole.
The gyroaxis assembly is a gyroaxis A shaft assembly, and gyroaxis A shaft assembly is connected with moving platform.
Compound mainshaft head comprises the main tapping housing, be installed with electric main shaft in the main tapping housing, one end of electricity main shaft stretches out below the main tapping housing, and the outside of main tapping housing is installed with lathe tool, and the main tapping housing is connected with moving platform by gyroaxis A shaft assembly.
The electricity main shaft is milling electricity main shaft or grinding electricity main shaft.
Lathe tool is 1～3.
Outstanding feature of the present invention is: the three-axis series-multiple connection principle of parallel connection and serial connection and usefulness has partly been adopted in the feeding of three-axis series-multiple connection compound mainshaft head mechanism, the reasonably integrated advantage of the two; Adopt coupled pole mechanism in the diaxon parallel institution, solved the weak problem of lower-mobility parallel institution lateral bearing ability; Connecting rod and rotary pair and compound Hooke's hinge angled layout on moving platform that coupled pole is connected with moving platform have enlarged the automaticity of parallel institution; Main tapping has partly adopted the function composite principle with Compound Machining function, not only has milling or grinding and turning Compound Machining function, and does not increase the feed shaft number of lathe; Can be used as the milling spindle head that has the turning function concurrently and use, also can be used for grinding spindle head or polishing main tapping.
Description of drawings
Fig. 1 is the structural representation of mainshaft head mechanism of the present invention;
Fig. 2 is the motion principle figure of mainshaft head mechanism of the present invention.
Among the figure, 1. lathe tool, 2. main tapping housing, 3. electric main shaft, 4. moving platform, 5. compound Hooke's hinge I, 6. connecting rod I, 7. connecting rod II, 8. connecting rod III, 9. Hooke's hinge I, 10. Hooke's hinge II, 11. mounting blocks I, 12. straight line moving assembly I, 13. rotary pair I, 14. rotary pair II, 15. rotary pair III, 16. connecting rod IV, 17. rotary pair IV, 18. straight line moving assembly II, 19. mounting blocks II, 20. Hooke's hinge III, 21. Hooke's hinge IV, 22. connecting rod V, 23. connecting rod VI, 24. compound Hooke's hinge II, 25. gyroaxis A shaft assemblies.
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
The structure of compound mainshaft head mechanism of the present invention, as shown in Figure 1.Three-axis series-multiple connection compound mainshaft head mechanism is made up of three-axis series-multiple connection feed mechanism and compound mainshaft head, and the three-axis series-multiple connection feed mechanism is composed in series by a diaxon parallel institution and a gyroaxis assembly.
The diaxon parallel institution is made up of two branches, and a branch is made of straight line moving assembly I 12, mounting blocks I 11, connecting rod I 6, rotary pair I 13, rotary pair II 14, connecting rod II 7, connecting rod III8, Hooke's hinge I 9, Hooke's hinge II 10 and compound Hooke's hinge I 5.Another branch is made of straight line moving assembly II 18, mounting blocks II 19, rotary pair III15, connecting rod IV16, rotary pair IV17, Hooke's hinge III20, Hooke's hinge IV21, connecting rod V22, connecting rod VI23 and compound Hooke's hinge II 24.
Straight line moving assembly I 12 and straight line moving assembly II 18 horizontal parallel settings, be fixedly connected with mounting blocks I 11 on the slide unit of straight line moving assembly I 12, mounting blocks I 11 is connected with the end of connecting rod I 6, connecting rod II 7 and connecting rod III8 with Hooke's hinge I 9 by rotary pair I 13, Hooke's hinge II 10 respectively, the other end of connecting rod I 6 is connected with moving platform 4 by rotary pair II 14, and the other end of connecting rod II 7 and connecting rod III8 is connected with moving platform 4 by compound Hooke's hinge I 5.
Be fixedly connected with mounting blocks II 19 on the slide unit of straight line moving assembly II 18, mounting blocks II 19 is connected with the end of connecting rod IV16, connecting rod V22 and connecting rod VI23 with Hooke's hinge III20 by rotary pair IV17, Hooke's hinge IV21 respectively, the other end of connecting rod IV16 is connected with moving platform 4 by rotary pair III15, and the other end of connecting rod V22 and connecting rod VI23 is connected with moving platform 4 by compound Hooke's hinge II 24.
Main tapping housing 2 is connected with moving platform 4 by gyroaxis A shaft assembly 25, and can rotate with gyroaxis A assembly 25, being provided with electric main shaft 3 in the main tapping housing 2, an end of electric main shaft 3 stretches out below main tapping housing 2, the arranged outside of main tapping housing 2 has lathe tool 1, and lathe tool 1 is 1～3.
Main tapping housing 2, electric main shaft 3 and lathe tool 1 are formed the compound mainshaft head with Compound Machining function.
The gyroaxis assembly is a gyroaxis A shaft assembly 25, comprises motor that is fixed in moving platform 4 and the axle that links to each other with motor, and gyroaxis A shaft assembly 25 makes the relative moving platform 4 of compound mainshaft head carry out the gyration of A axle.
The motion principle of mainshaft head mechanism of the present invention, as shown in Figure 2.
The parallel institution of the feed mechanism of three-axis series-multiple connection compound mainshaft head mechanism of the present invention is the diaxon parallel institution, and the slide unit of two straight line moving assemblies in this diaxon parallel institution is made Y along the guide rail of horizontally disposed moving sets respectively
1, Y
2Move, i.e. the real axis horizontal movement of parallel institution, the slide unit of straight line moving assembly and moving sets guide rail constitute linear joint P; Two branches of parallel institution are respectively by revolute joint R, Hooke's hinge U and connecting rod, and the real axis of linear joint P is moved Y
1, Y
2, be transformed into moving platform 4 and move along the imaginary axis of Y, Z-direction.
P is the slide unit of straight line moving assembly and the linear joint that the moving sets guide rail constitutes.
Y
1, Y
2Being along the moving of the positive negative direction of coordinate system Y-axis, is the real axis straight-line feed motion of moving sets.
Y, Z are the imaginary axis motion of moving platform.
A is the gyration of gyroaxis A shaft assembly around X-axis.
Mainshaft head mechanism of the present invention has Y, Z, three feed motions of A.
θ
1, θ
2The established angle on moving platform for compound Hooke's hinge and rotary pair with the parameter optimization designs such as bar length of parallel institution, can enlarge the automaticity of parallel institution.Wherein, θ
1Be the angle between rotary pair III15 and the compound Hooke's hinge II 24, θ
2Be the angle between rotary pair II 14 and the compound Hooke's hinge I 5.
N is the rotating main motion of electric main shaft 3.
Connecting rod II 7 in the mainshaft head mechanism of the present invention and connecting rod III8 form a coupled pole, connecting rod V22 and connecting rod VI23 form another coupled pole, two coupled poles are connected with mounting blocks by Hooke's hinge respectively, and be connected with moving platform by compound Hooke's hinge respectively, can strengthen the lateral bearing ability of lower-mobility parallel institution by two coupled poles.
Compound mainshaft head rotates by the A axle of gyroaxis A shaft assembly 25, can realize the revolution class cutter that electric main shaft 3 axle heads are installed, adopt the milling or the grinding of incline direction arbitrarily in vertical, horizontal and the A axle slewing area, three-axis series-multiple connection compound mainshaft head mechanism of the present invention cooperates with the C axle of lathe, can carry out complex-curved processing arbitrarily; The C axle of also available non-rotating lathe tool and lathe fits into driving and cuts processing, has the Compound Machining function.
The structure of three-axis series-multiple connection compound mainshaft head mechanism of the present invention, as shown in Figure 1.Three-axis series-multiple connection compound mainshaft head mechanism is made up of three-axis series-multiple connection feed mechanism and the compound mainshaft head with Compound Machining function.The three-axis series-multiple connection feed mechanism is composed in series by linear moving mechanism and a gyroaxis feeder assembly of a diaxon parallel connection.The straight line moving assembly I 12 of diaxon parallel institution and straight line moving assembly II 18 adopt servomotor to drive by ball screw assembly,, realize the Y of two moving sets
1, Y
2Move horizontally.Gyroaxis A shaft assembly 25 adopts servomotor to drive by reducing gear, realizes the gyration of A axle.Milling electricity main shaft 3 and three is installed lathe tool 1 on the main tapping housing 2.
Similar to the implementation method of embodiment 1, that different is the Y of diaxon parallel institution moving sets
1, Y
2Move and adopt linear electric motors directly to drive, the gyration of A axle adopts torque motor directly to drive, to satisfy the needs of high accuracy and High-speed machining.Grinding electricity main shaft and is installed lathe tool, with the supporting use of corresponding tool magazine on the main tapping housing 2.
Claims (4)
1. a three-axis series-multiple connection compound mainshaft head mechanism is characterized in that, this mechanism is made of three-axis series-multiple connection feed mechanism and compound mainshaft head, and described three-axis series-multiple connection feed mechanism is composed in series by a diaxon parallel institution and a gyroaxis assembly; Described diaxon parallel institution comprises horizontally disposed straight line moving assembly I (12) and straight line moving assembly II (18), be connected with mounting blocks I (11) on the slide unit of straight line moving assembly I (12), mounting blocks I (11) is respectively by rotary pair I (13), Hooke's hinge II (10) and Hooke's hinge I (9) and connecting rod I (6), connecting rod II (7) is connected with the end of connecting rod III (8), the other end of connecting rod I (6) is connected with moving platform (4) by rotary pair II (14), the other end of connecting rod II (7) and connecting rod III (8) is connected with moving platform (4) by compound Hooke's hinge I (5), be connected with mounting blocks II (19) on the slide unit of straight line moving assembly II (18), mounting blocks II (19) is respectively by rotary pair IV (17), Hooke's hinge IV (21) and Hooke's hinge III (20) and connecting rod IV (16), connecting rod V (22) is connected with the end of connecting rod VI (23), the other end of connecting rod IV (16) is connected with moving platform (4) by rotary pair III (15), the other end of connecting rod V (22) and connecting rod VI (23) is connected with moving platform (4) by compound Hooke's hinge II (24), described connecting rod II (7) and connecting rod III (8) constitute a coupled pole, and described connecting rod V (22) and connecting rod VI (23) constitute a coupled pole.
2. three-axis series-multiple connection compound mainshaft head mechanism according to claim 1 is characterized in that, described gyroaxis assembly is a gyroaxis A shaft assembly (25); Described compound mainshaft head comprises main tapping housing (2), be installed with electric main shaft (3) in the main tapping housing (2), one end of electricity main shaft (3) stretches out below main tapping housing (2), the outside of main tapping housing (2) is installed with lathe tool (1), and main tapping housing (2) is connected with moving platform (4) by gyroaxis A shaft assembly (25).
3. three-axis series-multiple connection compound mainshaft head mechanism according to claim 2 is characterized in that, described electric main shaft (3) is milling electricity main shaft or grinding electricity main shaft.
4. three-axis series-multiple connection compound mainshaft head mechanism according to claim 2 is characterized in that, described lathe tool (1) is 1～3.
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| CN2008101503939A CN101323089B (en) | 2008-07-21 | 2008-07-21 | Three-axis series-multiple connection compound mainshaft head mechanism |
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|---|---|---|---|
| CN2008101503939A CN101323089B (en) | 2008-07-21 | 2008-07-21 | Three-axis series-multiple connection compound mainshaft head mechanism |
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| CN101323089A CN101323089A (en) | 2008-12-17 |
| CN101323089B true CN101323089B (en) | 2010-06-02 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101474756B (en) * | 2009-01-20 | 2011-11-16 | 西安理工大学 | Dual-drive skid revolving joint portion dual-shaft parallel high-speed accurate mainshaft head |
| CN103878624B (en) * | 2012-12-20 | 2016-04-13 | 财团法人精密机械研究发展中心 | Twin shaft shunt feed platform mechanism |
| CN103308337B (en) * | 2013-05-31 | 2015-06-03 | 北京航空航天大学 | Machine tool loading device and machine tool loading test method based on planar two-linear force mechanism |
| CN107999840B (en) * | 2017-11-03 | 2020-02-21 | 江苏大学 | Automatic partial weight grinding device based on vertical static balancing instrument of screw |
| CN109128872B (en) | 2018-09-26 | 2019-09-17 | 燕山大学 | A kind of symmetrical parallel three NC axes main tapping can be realized multi-direction Fixed-point Motion of A |
| CN115179047A (en) * | 2022-09-03 | 2022-10-14 | 北京信息科技大学 | Turning and milling combined machining center with hybrid structure |
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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 |
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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 |
| CN1788901A (en) * | 2005-12-15 | 2006-06-21 | 天津第一机床总厂 | Digital control tooth crest chamfering machine for curved tooth and angle gear |
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| Title |
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| JP特表2001-513030A 2001.08.28 |
| 刘鸿雁等.复合加工中心开放式数控系统设计与应用.制造业自动化29 7.2007,29(7),36-40. |
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