CN101691013A - Parallel main shaft head movable arm supporting structure and manufacturing method - Google Patents
Parallel main shaft head movable arm supporting structure and manufacturing method Download PDFInfo
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- CN101691013A CN101691013A CN200910187618A CN200910187618A CN101691013A CN 101691013 A CN101691013 A CN 101691013A CN 200910187618 A CN200910187618 A CN 200910187618A CN 200910187618 A CN200910187618 A CN 200910187618A CN 101691013 A CN101691013 A CN 101691013A
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Abstract
The invention discloses a parallel main shaft head movable arm supporting structure and a manufacturing method. The manufacturing method is characterized in that in spaces of respectively corresponding points of equant 120 degrees of upper and lower platforms of a co-centric shaft, the upper ends of parallelogram structures are provided with revolving pairs hinged with three points of a dynamic platform respectively, and the lower ends of the parallelogram structures form a fixed platform through translation pairs and a main shaft sleeve; the manufactured structures are three single branches which have the same structures and are mutually independent; two parallel movable arms are arranged in the space, then the lower ends of the movable arms, a guide screw, a linear rail and a sliding seat are fixed with a bottom plate to form the translation pairs, and the translation pairs are fixed with the inner wall of the main shaft sleeve at equal intervals; trisection points of the upper ends of the movable arms are combined with the other ends of the parallel movable arms to form the revolving pairs by spherical hinge pairs in a vertical space respectively; and each path is provided with a guide screw motor and a transmission mechanism, and an electric main shaft passes through the circle center of the dynamic platform so as to realize the swing of A/B axis and the translation of Z axis. The device well solves the problem of interference of important components such as parallel main shaft head movable arms, guide screws, grating scales and the like during assembling.
Description
Technical field
The present invention relates to parallel main shaft head movable arm supporting structure and manufacture method in the mechanical production devices lathe.
Technical background
The parallel main shaft head device of being born in the nineties in last century has flexible movements, accurate positioning, and bearing capacity is strong, and heavy moving parts is little, realizes characteristics such as high-speed motion easily, becomes a new direction of present machine industry research.Yet especially 6DOF parallel institution motion coupling is strong for parallel institution, and working space is little, the numerical control programming difficulty.Therefore the lower-mobility shunting means more and more has been subjected to researcher's attention, can realize that wherein the parallel main shaft head of three-degree-of-freedom motion has begun the engineering application.
The freedom degree parallel connection main tapping can make up with the lathe of various ways, constitutes the series-parallel connection five-axis machine tool.This series products has the advantage of in parallel and tandem arrangement, is particularly suitable for the processing of overall aircraft structural member, has very application prospects.
The design feature of parallel main shaft head has determined its single branch road to install in the collar bush outside, and in the collar bush of packing into then, this has just caused tetragonal swing arm meeting and leading screw in assembling process, and parts such as grating chi interfere.Therefore must invent the generation that a kind of structure effectively overcomes this type of interference.
Summary of the invention
The purpose of this invention is to provide a kind of parallel main shaft head movable arm supporting structure and manufacture method, thereby solve in its three single branch road assembling process the interference problem of swing arm and leading screw.
The manufacture method of parallel main shaft head movable arm supporting structure, it is characterized in that design be below by A1, A2, the triangle fixed platform that the A3 point is formed, the top is by B1, B2, the triangle that the B3 point is formed is a moving platform, with electric main shaft concentric on, lower platforms etc. divide the A1-B1 of corresponding points separately of 120 degree, A2-B2, the space of A3-B3, translation pair by parallelogram sturcutre connects into three three-dimensional branch roads respectively, and it is point articulated by typed ball bearing pair and moving platform B1-B3 that parallelogram sturcutre one end of each branch road is established revolute pair, the other end forms fixed platform by translation is secondary with collar bush; When the secondary stroke of the translation of three branch roads is inconsistent, will affect moving platform to make horizontal hunting, also can rotate with swing arm, the typed ball bearing pair of time space, thereby realize three-degree-of-freedom motion.Designing and manufacturing parallel main shaft head movable arm supporting structure by this is three identical, separate single branch roads of structure: it is two parallel swing arms that A1 point to the space that B1 is ordered is provided with the translation pair, slide in swing arm one end and the translation pair is fixed, and the A1-A3 point is fixedly formed the translation pair by leading screw, line rail and slide and base plate; The equidistantly secondary and collar bush inwall of each translation is fixed; The B1-B3 point of branches such as moving platform 120 degree is combined into revolute pair with the parallelogram sturcutre other end respectively by typed ball bearing pair in vertical space, form each branch road, three branch roads all have spindle motor, transmission mechanism separately, the electricity main shaft passes the moving platform center of circle, realization is to the attitude of moving platform B1, B2, B3 and the independent control of position, thus the swing of realization A/B axle and the translation of Z axle.
Parallel main shaft head movable arm supporting structure of the present invention can be propped up swing arm, and realizes fixing, and can be used for vertical or horizontal type structure thereby limited it at this parallel main shaft head of dress, forms different series-parallel machine tools.
Description of drawings
The schematic diagram of accompanying drawing 1 parallel main shaft head manufacture method;
The parallel main shaft head movable arm supporting structure schematic diagram that accompanying drawing 2 is single;
Accompanying drawing 3 is Fig. 2 parallel main shaft head movable arm supporting structure left views;
Accompanying drawing 4 is the parallel main shaft head examples after the combination;
Accompanying drawing 5 is the parallel main shaft head schematic diagrames that are fixed in the collar bush.
The specific embodiment
The manufacture method of parallel main shaft head movable arm structure of the present invention: the parallel main shaft head kinematics model shown in 1 illustrates design philosophy in conjunction with the accompanying drawings: the triangle of being made up of A1, A2, A3 point is wherein drafted and is fixed platform, corresponding to the collar bush among Fig. 5 15.The triangle that B1, B2, B3 point composition are established in the top is a motion platform, corresponding to moving platform among Fig. 4 12.Connect into three three-dimensional branch roads by parallelogram sturcutre respectively in the A1-B1 of corresponding points separately of upper and lower platform, the space of A2-B2, A3-B3.Parallel main shaft head movable arm supporting structure by this design philosophy manufacturing is three identical, separate single branch roads of structure, adding two parallel swing arms as A1 point to the space that B1 is ordered is parallelogram sturcutre, form the translation pair and the slide on swing arm one end and the base plate is fixed by leading screw, line rail and slide, and A1-A3 point and collar bush 15 are fixing, the B1-B3 point of five equilibrium 120 degree is combined into revolute pair with the parallelogram sturcutre other end respectively by typed ball bearing pair on the circular moving platform in vertical space, forms each branch road.Three branch roads all have spindle motor, transmission mechanism separately, realize that moving platform 12 drives electric main shafts 13, thereby realizes the swing of A/B axle and the translation of Z axle to the attitude of moving platform B1, B2, B3 and the independent control of position.
According to the parallel main shaft head list branch road movable arm supporting structure of principle shown in Figure 1 design, 3 single branch road movable arm supporting structure one ends are fixed in the collar bush of top, and are mutually 120 degree, lower end and fixed platform fix in collar bush; Specifically see Fig. 2,4: two line rails 2 of face length limit arranged parallel, leading screw 5 are settled between the online rail 2 in the base plate 1, and the screw on the leading screw 5 is fixing with slide 3, and slide 3 is fixed on the top slide block 14 of line rail 2.The fixed bit of two parallel swing arm 4 one ends and slide 3 is hinged, and the other end is connected with upper saddle 6 typed ball bearing pair, and fixing ball dumpling pair 7 on the upper saddle 6 constitutes the revolute pair that the movable arm supporting structure of a cover and parallelogram joins.Leading screw 5 is connected with separately the motor that is installed in base plate 1 end, constitutes independently single separately branch road.At this moment swing arm can be at gravity effect lower swing, thereby and leading screw interfere.Fig. 3 is seen in the measure that addresses this problem: at upper saddle 6 rear portions, bent plate 10 is fixed on the swing arm 4 by screw 11, bent plate 10 turns up and has unthreaded hole on the plane, screw rod 8 passes base plate 1 and unthreaded hole, fastening with nut 9, the bent plate 10 of controlling the swing arm bracing or strutting arrangement is fixed on the base plate 1, and base plate 1 equidistant 120 degree of each single branch road are fixed with collar bush 15 inwalls, thereby realize the fixing of movable arm supporting structure.Electricity main shaft 13 passes the center of circle of truncated cone-shaped moving platform 12, and moving platform 12 lower circumference have three five equilibrium Connection Blocks, respectively with fixing swing arm after typed ball bearing pair 7 hinged, by three independently branch road form parallel main shaft head.
The parallel main shaft head movable arm supporting structure motion process is as follows: the motor-driven leading screw 5 of each branch road drives slide 3 rail 2 moving linearlies along the line, and the parallelogram that slide 3 drives swing arm 4, upper saddle 6 formations rotates around the stiff end of slide 3.Since three independently branch road be point articulated with moving platform B1-B3 by typed ball bearing pair 7, when slide 3 strokes of three branch roads are inconsistent, will affect moving platform to make horizontal hunting, swing arm 4, ball dumpling pair 7 etc. also can rotate simultaneously, thereby realize three-degree-of-freedom motion.
In installation process,,, at last moving platform is connected with the typed ball bearing pair of each branch road so single branch road must be good in collar bush outside Installation and Debugging, and then be loaded on three single branch roads respectively in the collar bush because the main shaft sleeving inner space is narrow and small.After assembling is finished, the swing arm bracing or strutting arrangement is taken off.
Claims (4)
1. the manufacture method of a parallel main shaft head movable arm supporting structure, it is characterized in that design be below the triangle formed by A1, A2, A3 point be fixed platform, the triangle that the top is made up of B1, B2, B3 point is a motion platform, connects into three three-dimensional branch roads by parallelogram sturcutre respectively in the A1-B1 of corresponding points separately of upper and lower platform, the space of A2-B2, A3-B3; The parallelogram sturcutre of each branch road is that an end establishes that revolute pair is point articulated by typed ball bearing pair and moving platform B1-B3, the other end and translation are secondary fixing; When the secondary stroke of the translation of three branch roads is inconsistent, will affect moving platform to make horizontal hunting, also can rotate with swing arm, the typed ball bearing pair of time space, thereby realize three-degree-of-freedom motion.
2. parallel main shaft head movable arm supporting structure of making of method according to claim 1, it is characterized in that in A1 point to the space that B1 is ordered two parallel swing arms being set is parallelogram sturcutre, again swing arm one end and slide are fixed, and the B1-B3 point that the A1-A3 point is fixedly formed five equilibrium on translation pair, the moving platform by the existing base plate of leading screw, line rail and slide is combined into revolute pair with the parallelogram sturcutre other end respectively by typed ball bearing pair in vertical space, form three identical, separate single branch roads of structure; Three branch roads all have spindle motor, transmission mechanism separately, realize that electric main shaft is passed in the moving platform center of circle, thereby realizes the swing of A/B axle and the translation of Z axle to the attitude of moving platform B1, B2, B3 and the independent control of position.
3. parallel main shaft head movable arm supporting structure according to claim 2, it is characterized in that each single line structure is to settle between the online rail (2) along base plate (1) interior face length limit two line rails of arranged parallel (2), leading screw (5), screw on the leading screw (5) and slide (3) are fixing, and slide (3) is fixed on the top slide block (14) of line rail (2); The fixed bit of two parallel swing arm (4) one ends and slide (3) is hinged, and the other end is connected with upper saddle (6) typed ball bearing pair, and upper saddle (6) is gone up fixedly ball dumpling pair (7), constitutes the revolute pair that the movable arm supporting structure of a cover and parallelogram joins; Leading screw (5) is connected with separately the terminal motor of base plate (1) that is installed in, and constitutes independently single separately branch road.
4. parallel main shaft head movable arm supporting structure according to claim 2, the movable arm supporting structure that it is characterized in that single branch road is fixed: at upper saddle (6) rear portion, bent plate 10 is fixed on the swing arm (4) by screw 11, bent plate (10) turns up and has unthreaded hole on the plane, screw rod (8) passes base plate (1) and unthreaded hole, fastening with nut (9), the bent plate (10) of controlling the swing arm bracing or strutting arrangement is fixed on the base plate (1), and equidistant 120 degree of the base plate of each single branch road (1) are fixed with collar bush (15) inwall; Electric main shaft (13) is passed in the center of circle of truncated cone-shaped moving platform (12), and moving platform (12) lower circumference has three five equilibrium Connection Blocks, respectively with fixing swing arm after typed ball bearing pair (7) hinged, by three independently branch road form parallel main shaft head.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910187618A CN101691013A (en) | 2009-09-25 | 2009-09-25 | Parallel main shaft head movable arm supporting structure and manufacturing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910187618A CN101691013A (en) | 2009-09-25 | 2009-09-25 | Parallel main shaft head movable arm supporting structure and manufacturing method |
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| CN101691013A true CN101691013A (en) | 2010-04-07 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922512A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation |
| CN105598478A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Parallel spindle head of high-precision numerical control machine tool |
| CN108723801A (en) * | 2018-06-30 | 2018-11-02 | 郑州大学 | Five-freedom parallel machine tool with quadrilateral space structure |
| CN109476013A (en) * | 2016-07-08 | 2019-03-15 | 索尼公司 | Linkage, industrial robot and Touching Demo device in parallel |
| CN113386113A (en) * | 2021-08-16 | 2021-09-14 | 中国科学院宁波材料技术与工程研究所 | Four-degree-of-freedom parallel robot |
-
2009
- 2009-09-25 CN CN200910187618A patent/CN101691013A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922512A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-degree-of-freedom single action platform parallel mechanism capable of achieving three-dimensional translation and one-dimensional rotation |
| CN105598478A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Parallel spindle head of high-precision numerical control machine tool |
| CN109476013A (en) * | 2016-07-08 | 2019-03-15 | 索尼公司 | Linkage, industrial robot and Touching Demo device in parallel |
| CN108723801A (en) * | 2018-06-30 | 2018-11-02 | 郑州大学 | Five-freedom parallel machine tool with quadrilateral space structure |
| CN113386113A (en) * | 2021-08-16 | 2021-09-14 | 中国科学院宁波材料技术与工程研究所 | Four-degree-of-freedom parallel robot |
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Open date: 20100407 |