CN102218596A - Serial-parallel laser process machine - Google Patents
Serial-parallel laser process machine Download PDFInfo
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- CN102218596A CN102218596A CN2011101719136A CN201110171913A CN102218596A CN 102218596 A CN102218596 A CN 102218596A CN 2011101719136 A CN2011101719136 A CN 2011101719136A CN 201110171913 A CN201110171913 A CN 201110171913A CN 102218596 A CN102218596 A CN 102218596A
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Abstract
The invention discloses a serial-parallel laser process machine and relates to the technical field of laser process machines, and the serial-parallel laser process machine is composed of a serial-parallel machine tool (1), a laser system (2) and a control system (3), wherein, the serial-parallel machine tool (1) comprises a machine tool body (4), a horizontal guide rail (5), a TDOF (three degrees of freedom) parallel mechanism (6) and a worktable (9), the TDOF parallel mechanism (6) comprises three driving slide blocks (11), a fixed platform (10), a hook joint (13), three linear guide rails (15), a moving platform (14) and three connecting rods (12). The serial-parallel laser process machine provided by the invention combines the characteristics of larger operation range of the serial mechanism and high kinematic accuracy of the parallel mechanism; and in addition, the flexible connection of optical transmission is combined, thus the novel serial-parallel laser process machine is suitable for cutting and welding a workpiece, and has the advantages of lager operation range, high kinematic accuracy and good processed flexibility.
Description
Technical field
The present invention relates to the laser process machine technical field, refer in particular to a kind of Laser Processing connection in series-parallel lathe, can realize the steel plate welding and high efficiency, the high-precision processing of cutting, also can be used for all kinds of workpiece such as sheet material class, glassware and harbour machinery of shipping industry.
Background technology
At present, laser technology and parallel machine are that one of focus is studied by each scientific research institution at present, also are one of the high-degree economic growth points in market, so laser technology and parallel machine combination, help to promote the extensive use of laser technology in industrial production.Utilize the parallel machine technology, can realize that Express Order Wire is programmed outward, the program control mode of production of data, high-speed cutting, precision drilling and material flows automation efficiently, this makes the machining accuracy height, response speed is fast, the machining cycle shortens greatly, productivity ratio improves greatly, has brought new chance and market to enterprise.
In laser processing procedure, the processing of workpiece improves gradually to high accuracy, high efficiency requirement.Adopt serial mechanism to be applied to workpiece processing in the conventional laser organisation of working, this serial mechanism lathe has the big characteristics of space, but its speed is slow, and rigidity is low.Parallel institution has good rigidity, and speed is fast, advantage of high precision, but its working space is limited, and the patent of invention of patent publication No. CN1775449 for example, its working space perpendicular to the guide rail movement direction is limited.Connection in series-parallel lathe based on the parallel institution exploitation, rigidity with parallel institution is big, motional inertia is little, advantage of high precision, simultaneously structurally with on the performance form complementary relationship with the serial mechanism binding energy, the task that tradition series connection lathe is difficult to finish can be finished, thereby higher processing flexibility and efficient can be realized.
Summary of the invention
The invention provides the laser process machine of a kind of novel suitable laser weld and cutting characteristics, fully combine the characteristic of series connection and parallel moving mechanism advantage and Laser Processing, realized the raising of the range of work and precision, to overcome the defective of present conventional laser machining tool and parallel institution.
The present invention is made of connection in series-parallel lathe, laser system and control system three parts.The connection in series-parallel lathe is made up of lathe bed, horizontal guide rail, 3-freedom parallel mechanism, optical fiber, laser optical head, workbench.3-freedom parallel mechanism comprises that three drive slide block, fixed platform, Hooke's hinge, three line slideways, moving platform and three connecting rods.Fixed platform is the strip cube that the bottom has trapezoidal groove, three line slideways are installed in the top and two side bottoms of trapezoidal groove respectively, three drive slide block and are arranged at respectively on three line slideways, three drive slide block connects three connecting rods respectively by Hooke's hinge a end, and the other end of three connecting rods connects moving platform by Hooke's hinge respectively.Fixed platform connects lathe bed by horizontal guide rail.The laser optical head of laser system is arranged on the moving platform carriage center.Control system links to each other with laser system by order wire, and the control laser system produces laser pulse, and laser pulse arrives laser optical head by Optical Fiber Transmission; Link to each other control connection in series-parallel lathe between control system and the connection in series-parallel lathe by order wire.
Three driving slide blocks are done rectilinear motion respectively on three line slideways, be delivered on the connecting rod through Hooke's hinge, and three groups of connecting rods link to each other with moving platform by Hooke's hinge, and motion synthesizes the position of moving platform.Middle driving slide block group position has determined the resultant motion position of connection rod set and moving platform than the position height of two side slides by the distribution of intermediate slider and slide position, both sides.The plane is fixed together on the fixed platform of horizontal guide rail bottom surface and freedom degree parallel connection motion, moves along the diagram X-direction thereby horizontal guide rail can drive the freedom degree parallel connection motion.
Control system of the present invention can be special-purpose digital control system, also can be the digital control system in open type of PC.The whole control system comprises two parts: the control section that the control section of three translation parallel mechanism and fixed platform are slided.The trajectory planning, error compensation, code that control software of the present invention need satisfy workpiece generates, interpolation is calculated, the numerical control programming software of axle SERVO CONTROL etc.
Effect of the present invention is that three groups of driving slide blocks can carry out the translation of guide rail direction on three closed slides, can obtain working space in a big way.Fixed platform is that the bottom has the trapezoidal groove structure, and this structure links to each other with three connecting rods, and this structural stability is good, reliable operation, under the situation that does not influence working space, the bar that has shortened the both sides connecting rods is long, further improves the parallel machine processing stability simultaneously.Adopt three parallel orbits,, both helped control system control, prevent to drive slide block and interfere, help the raising of working space again with respect to two tracks or monorail.In addition, adopt series parallel structure, the movable scope of horizontal guide rail has further improved the working space of 3-freedom parallel mechanism, thereby the working space of lathe integral body gets a promotion.
The present invention not only can increase substantially operating efficiency, simultaneously in conjunction with the characteristics of serial parallel mechanism, has improved the scope of working space greatly.Adopt Optical Fiber Transmission simultaneously, have advantages such as equipment is simple, transmission is flexible, easy for installation, make Laser Processing be easy to realize flexibility, and relevant control technology maturation, handled easily.
Description of drawings
Below in conjunction with accompanying drawing content of the present invention is described in detail.
Fig. 1 is a connection in series-parallel laser process machine structural representation of the present invention.
Fig. 2 is a connection in series-parallel machine tool structure schematic diagram of the present invention.
Fig. 3 is the initial position structural representation of 3-freedom parallel mechanism of the present invention.
Fig. 4 is a certain positional structure schematic diagram of 3-freedom parallel mechanism of the present invention.
Fig. 5 is the operation principle schematic diagram of freedom degree parallel connection motion of the present invention.
Among the figure, 1 connection in series-parallel lathe, 2 laser systems, 3 control systems, 4 lathe beds, 5 horizontal guide rails, 6 3-freedom parallel mechanisms, 7 optical fiber, 8 laser optical heads, 9 workbench, 10 fixed platforms, 11 drive slide block, 12 connecting rods, 13 Hooke's hinges, 14 moving platforms, 15 line slideways.
The specific embodiment
Laser Processing connection in series-parallel lathe of the present invention is as shown in Figure 1: be made of connection in series-parallel lathe 1, laser system 2 and control system 3 three parts.Its operation principle is that control system is sent control instruction, one end is issued connection in series-parallel campaign lathe, one end sends to laser system, thereby connection in series-parallel campaign lathe drives the laser optical head motion according to instruction, and laser optical head sends laser pulse by laser system according to the processing instruction of control system.
Connection in series-parallel campaign lathe of the present invention mechanism is as shown in Figure 2: be made of lathe bed 4, horizontal guide rail 5,3-freedom parallel mechanism 6, optical fiber 7, laser optical head 8, workbench 9.The plane is fixed together on the fixed platform 10 of horizontal guide rail 5 bottom surfaces and freedom degree parallel connection motion, moves along the diagram X-direction thereby horizontal guide rail can drive the freedom degree parallel connection motion.
The structure initial position of invention 3-freedom parallel mechanism of the present invention is as shown in Figure 2: three drive slide block 11, fixed platform 10, Hooke's hinge 13, line slideway 15, moving platform 14 and three groups of connecting rods 12 and constitute; In a certain operating position as shown in Figure 4.
The operation principle of 3-freedom parallel mechanism of the present invention wherein is simplified to moving platform the P point as shown in Figure 5.The three translation parallel mechanism part, its operation principle is 3 variations that drive the horizontal level on slide block 11 line slideways 15, is delivered to the long connecting rod of three groups of fixed bars, bar L1 by Hooke's hinge 13, L3 is a constraining rod, driving slider end, connecting rod L1, the Hooke's hinge of L3 is in same level height, the Hooke's hinge of connecting rod L2 is higher than aforementioned Hooke's hinge, at the moving platform end, connecting rod L1, the Hooke's hinge position of L3 and L2 is close.When mechanism works, change the value of Y1, Y3, realize translation by bar L1, L3 control moving platform P point in the XOZ plane, this moment, the Y2 value was constant, and bar L2 and centre drive the slide block servo-actuated; Change the value of Y2, move along Y by bar L2 control moving platform, at this moment, Y1 and Y3 value change with Y2, thus two side drive slide block servo-actuateds; Change Y1 simultaneously, Y2 and Y3 can realize the long distance motion of Y direction, can realize space three translational motions that moving platform P is ordered.
The present invention can determine mechanism's proportional sizes according to concrete processing needs and technological requirement, adopts different control systems to realize motion control.
Claims (2)
1. a connection in series-parallel laser process machine is characterized in that, is made up of connection in series-parallel lathe (1), laser system (2) and control system (3) three parts; Described connection in series-parallel lathe (1) comprises lathe bed (4), horizontal guide rail (5), 3-freedom parallel mechanism (6) and workbench (9); Described 3-freedom parallel mechanism (6) comprises that three drive slide block (11), fixed platform (10), Hooke's hinge (13), three line slideways (15), moving platform (14) and three connecting rods (12); Described fixed platform (10) has the strip cube of trapezoidal groove for the bottom, three line slideways (15) are installed in the top and two side bottoms of trapezoidal groove respectively, three drive slide block (11) and are arranged at respectively on three line slideways, three drive slide block (11) connects three connecting rods (12) respectively by Hooke's hinge (13) a end, and the other end of three connecting rods (12) connects moving platform (14) by Hooke's hinge (13) respectively; Described fixed platform (10) connects lathe bed (4) by horizontal guide rail (5); The laser optical head (8) of described laser system (2) is arranged at moving platform (14) upper bracket center, and laser optical head (8) points to workbench (9); Described control system (3) links to each other with laser system (2) by order wire, and the control laser system produces laser pulse, and laser pulse is transferred to laser optical head (8) by optical fiber (7); Link to each other control connection in series-parallel lathe between control system (3) and the connection in series-parallel lathe (1) by order wire.
2. a kind of connection in series-parallel laser process machine according to claim 1 is characterized in that, described control system (3) comprises the control section of three translation parallel mechanism and the control section that fixed platform is slided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101719136A CN102218596A (en) | 2011-06-24 | 2011-06-24 | Serial-parallel laser process machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011101719136A CN102218596A (en) | 2011-06-24 | 2011-06-24 | Serial-parallel laser process machine |
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| CN102218596A true CN102218596A (en) | 2011-10-19 |
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| CN2011101719136A Pending CN102218596A (en) | 2011-06-24 | 2011-06-24 | Serial-parallel laser process machine |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632432A (en) * | 2012-04-11 | 2012-08-15 | 苏州怡信光电科技有限公司 | Drill tapping machine |
| CN107908191A (en) * | 2017-12-20 | 2018-04-13 | 芜湖哈特机器人产业技术研究院有限公司 | The kinetic control system and method for a kind of series-parallel robot |
| CN110170984A (en) * | 2019-05-13 | 2019-08-27 | 霸州市华硕汽车零部件有限公司 | A kind of parallel connection processing platform robot |
| CN112440273A (en) * | 2019-08-27 | 2021-03-05 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | Three-mechanical-arm motion control system and method |
| EP3907100A1 (en) * | 2020-05-08 | 2021-11-10 | Prodrive Technologies B.V. | Manipulator for handsfree charging electric vehicles |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102632432A (en) * | 2012-04-11 | 2012-08-15 | 苏州怡信光电科技有限公司 | Drill tapping machine |
| CN107908191A (en) * | 2017-12-20 | 2018-04-13 | 芜湖哈特机器人产业技术研究院有限公司 | The kinetic control system and method for a kind of series-parallel robot |
| CN107908191B (en) * | 2017-12-20 | 2024-03-29 | 芜湖哈特机器人产业技术研究院有限公司 | Motion control system and method for serial-parallel robot |
| CN110170984A (en) * | 2019-05-13 | 2019-08-27 | 霸州市华硕汽车零部件有限公司 | A kind of parallel connection processing platform robot |
| CN112440273A (en) * | 2019-08-27 | 2021-03-05 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | Three-mechanical-arm motion control system and method |
| EP3907100A1 (en) * | 2020-05-08 | 2021-11-10 | Prodrive Technologies B.V. | Manipulator for handsfree charging electric vehicles |
| NL2025529B1 (en) * | 2020-05-08 | 2021-11-23 | Prodrive Tech Bv | Manipulator for handsfree charging electric vehicles |
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Application publication date: 20111019 |