CN102528525A - Elevated gantry-type series-parallel configuration machine tool with six degrees of freedom - Google Patents

Abstract

The invention relates to a multi-axis linkage elevated gantry type hybrid configuration machine tool, which belongs to the field of numerical control machine tool manufacturing. The machine tool mainly includes workbench, column, beam, sliding seat, and parallel module, in which the two ends of the connecting rods of the three motion branch chains with the same structure of the parallel module are respectively connected to the sliding saddle and the moving platform through the Hooke hinge and the ball joint, and the middle branch chain The telescopic rod of the electric cylinder is connected to the moving platform through the combination of the rotating pair and the Hooke hinge, and the parallel mechanism module with three-dimensional rotation and one-dimensional movement freedom is installed on the sliding seat of the elevated gantry beam that can realize two-dimensional horizontal movement , forming a six-degree-of-freedom elevated gantry-type hybrid configuration machine tool. The invention combines the advantages of traditional series machine tools and parallel structure machine tools, and has the advantages of large working space, high rigidity, small change of driving load in the X-axis and Y-axis directions, good dynamic characteristics, strong reconfigurability and high modularization degree, etc., and can Realize six-axis simultaneous machining of complex curved surface structures.

Description

A six-degree-of-freedom elevated gantry-type hybrid configuration machine tool

technical field

The invention belongs to the field of numerical control machine tool manufacturing, and in particular relates to a multi-axis linkage elevated gantry type hybrid configuration machine tool capable of processing complex space curved surface parts.

Background technique

In recent years, in order to improve the adaptability to the production environment and meet the rapidly changing market demand, the global machine tool manufacturing industry is actively exploring and developing various new multi-functional manufacturing equipment and systems. Among them, the breakthrough in machine tool structure technology is the parallel machine tool, also known as virtual axis machine tool, which came out in the mid-1990s, and is known as "a major revolution in machine tool structure". Parallel machine tool is a creative application of space multi-ring multi-degree-of-freedom parallel mechanism in the CNC machine tool industry. Compared with the traditional serial CNC machine tool that realizes equivalent functions, parallel machine tool has a large rigidity-to-weight ratio, fast response speed, and strong reconfigurability. , high degree of modularization, no geometric error accumulation and amplification effect of traditional tandem machine tools, etc. However, compared with traditional tandem machine tools, pure parallel structure machine tools have the above-mentioned significant advantages, but they also have disadvantages such as small rotation angle, short moving stroke, small ratio of working space to mechanism volume, etc., making it difficult to realize large and heavy multi-degree-of-freedom machining The required large turning angle and long stroke motion requirements. Therefore, in order to solve the problems existing in purely parallel structure machine tools, give full play to the many advantages of parallel structure, and develop new manufacturing equipment that can not only ensure high rigidity, high precision and high dynamic characteristics, but also effectively expand the rotation angle and moving stroke. The combination of parallel structure and traditional serial machine tool to form a hybrid configuration machine tool is one of the feasible methods to solve the above problems.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, and design a six-degree-of-freedom elevated gantry-type mixed configuration machine tool by referring to the advantages of the traditional serial structure machine tool and the existing parallel machine tool. The elevated gantry type hybrid configuration machine tool of the present invention has the advantages of large working space, high rigidity, small change of driving load in the directions of X-axis and Y-axis, good dynamic performance, strong reconfigurability and high degree of modularization, and is especially suitable for national defense , military, aerospace, power generation equipment, mold manufacturing and other industries to process key structural parts with complex spatial surfaces.

A six-degree-of-freedom elevated gantry-type hybrid configuration machine tool, including a workbench, a column, a beam, a sliding seat, a motor, a screw, and a parallel module. The parallel module is mainly composed of a moving platform, a fixed platform, and four kinematic branch chains , the three motion branch chains have the same structure and are composed of motors, lead screws, sliding saddles, connecting rods, Hooke hinges and spherical joints, and are distributed axisymmetrically in space. Composed of telescopic rods, its features are: the workbench is fixed, the parallel module is installed on the sliding seat, the sliding seat moves in the Y direction along the guide rail on the beam, and the beam moves in the X direction along the guide rail on the column, thus forming an elevated gantry type Hybrid machine tool.

The three kinematic branch chains with the same structure of the parallel modules are distributed axisymmetrically in space, and the way the motor drives the lead screw to move the saddle along the guide rail can be replaced by the way that the linear motor drives the saddle to move along the guide rail.

The two ends of the connecting rods of the three moving branch chains with the same parallel module structure are respectively connected to the moving platform and the sliding saddle through a ball joint and a Hooke hinge, and the telescopic rod of the middle branch is connected to the moving platform through a combination of a rotating pair and a Hooke hinge.

The upper end of the connecting rod is connected to the saddle through the Hooke hinge and the lower end is connected to the moving platform through the spherical hinge in the three motion branch chains with the same structure of the parallel module. The upper end of the connecting rod can be connected to the saddle through the spherical hinge. The Hooke hinge is connected to the moving platform or the upper and lower ends of the connecting rod are replaced by the way that the upper and lower ends of the connecting rod are respectively connected with the saddle and the moving platform.

The fixed-length connecting rods adopted by the three moving branch chains with the same structure of the parallel modules can be replaced by the inner movable pair of telescopic rods. At this time, the upper end of the telescopic rod is connected to the fixed platform through the Hooke hinge, and the lower end is connected to the movable platform through the ball hinge.

The spherical joints used for connecting the three moving branch chains with the same structure as the parallel module and the moving platform can be replaced by a combination of a swivel pair and a Hooke hinge, and the swivel pair and Hooke hinge used for the connection between the middle branch chain and the moving platform The combination can be replaced by a spherical hinge.

The drive mode of the electric cylinder adopted by the middle branch chain of the parallel module can be replaced by a linear motor drive or a hydraulic drive.

The beam of the machine tool is separated from the column, and the workbench is separated from the bed of the machine tool, which is convenient for independent manufacture and equipment.

The column of the machine tool is fixed on the foundation, and the same linear guide rail, drive motor and position feedback device are installed on the top of the column on both sides, and the motors on both sides are synchronously driven.

The columns of the machine tool are all arranged with cavities that reduce internal stress and increase the ratio of rigidity to weight, and the cavities are arranged in an even linear arrangement.

The feed mode in which the motor-driven lead screw used by the beam and slide seat of the machine tool drives the slider to move can be replaced by the feed mode in which the linear motor directly drives the slider to move.

A six-degree-of-freedom elevated gantry-type hybrid configuration machine tool proposed by the present invention includes a fixed workbench, a column, a beam, a sliding seat, and a parallel module. The components of the parallel module mainly include a moving platform, a fixed platform installed on the sliding seat and four motion branch chains, of which the three motion branch chains have the same structure and are composed of motors, lead screws, sliding saddles, connecting rods, Hooke hinges and balls. It is composed of hinges and is distributed axially symmetrically in space. The motor-driven lead screw fixed on the fixed platform makes the saddle move along the guide rail in a straight line. The middle branch chain is the fourth motion branch chain, which is composed of an electric cylinder and a telescopic rod, and the telescopic rod is connected to the moving platform through a combination of a rotating pair and a Hooke hinge. The space parallel mechanism module composed of the four motion branch chains, the fixed platform and the moving platform has three-dimensional rotation and one-dimensional movement degrees of freedom on the moving platform. On the sliding seat of the gantry beam, a six-degree-of-freedom elevated gantry-type hybrid configuration machine tool is formed.

Description of drawings

Fig. 1 is the overall structure schematic diagram of six degrees of freedom elevated gantry type hybrid configuration machine tool of the present invention;

Fig. 2 is the top view of the six-degree-of-freedom elevated gantry type hybrid configuration machine tool of the present invention;

Fig. 3 is a schematic diagram of a sliding seat of a six-degree-of-freedom elevated gantry-type hybrid configuration machine tool of the present invention;

Fig. 4 is a schematic diagram of a parallel module of a six-degree-of-freedom elevated gantry-type hybrid configuration machine tool of the present invention;

Fig. 5 is a bottom view of the parallel module of the six-degree-of-freedom elevated gantry-type hybrid configuration machine tool of the present invention;

Fig. 6 is a schematic diagram of the moving platform of the parallel module of the six-degree-of-freedom elevated gantry-type hybrid configuration machine tool of the present invention;

Fig. 7 is a schematic diagram of the fixed platform of the parallel module of the six-degree-of-freedom elevated gantry-type hybrid configuration machine tool of the present invention;

Fig. 8 is a schematic diagram of an electric cylinder of a parallel module of a six-degree-of-freedom elevated gantry-type hybrid machine tool according to the present invention.

In the figure, 1. Workbench, 2. Column, 3. Motor, 4. Lead screw, 5. Beam, 6. Motor, 7. Lead screw, 8. Sliding seat, 9. Parallel module, 10. Electric spindle, 11 .Moving platform, 12. Telescopic rod, 13. Electric cylinder, 14. Fixed platform, 15. Motor, 16. Lead screw, 17. Slide saddle, 18. Hooke hinge, 19. Connecting rod, 20. Ball hinge, 21 . Turning pair, 22. Hooke hinge.

Detailed ways

The structural drawings and embodiments of the six-degree-of-freedom elevated gantry-type hybrid configuration machine tool of the present invention are described in detail as follows:

As shown in Figure 1, the machine tool components of the six-degree-of-freedom elevated gantry-type hybrid configuration machine tool of the present invention mainly include a fixed workbench 1, a column 2, a motor 3, a lead screw 4, a beam 5, a motor 6, and a lead screw 7. Sliding seat 8, parallel module 9, the motor 3 drives the lead screw 4 to move the beam 5 along the guide rail on the column 2 in the X direction, and the motor 6 drives the lead screw 7 to make the slide seat 8 move in the Y direction along the guide rail on the beam 5 . Fig. 2 is a top view of the six-degree-of-freedom elevated gantry-type hybrid configuration machine tool of the present invention. Fig. 3 is a schematic diagram of the sliding seat 8 of the six-degree-of-freedom elevated gantry type hybrid configuration machine tool of the present invention. Referring to Fig. 4 to Fig. 8, the components of the parallel module 9 mainly include the moving platform 11 on which the electric spindle 10 is installed, the fixed platform 14 installed on the sliding seat 8 and four kinematic branch chains, among which the three kinematic branch chains have the same structure and are It consists of a motor 15, a lead screw 16, a saddle 17, a connecting rod 19, a Hooke hinge 18 and a ball hinge 20, and is distributed axisymmetrically in space, and the motor 15 fixed on the support plate of the fixed platform 14 drives the lead screw 16 so that The saddle 17 moves linearly along the guide rail, and the two ends of the connecting rod 19 are respectively connected to the saddle 17 and the moving platform 11 through the Hooke hinge 18 and the ball joint 20 . The middle branch chain is the fourth branch chain, which is composed of an electric cylinder 13 and a telescopic rod 12. The telescopic rod 12 is connected to the moving platform 11 through the combination of the rotating pair 21 and the Hooke hinge 22, thus forming the parallel module 9, and the parallel module 9 The moving platform 11 can realize vertical movement along the Z-axis direction and rotation around the X-, Y-, and Z-axis directions respectively. The parallel module 9 is installed on the sliding seat 8 of the elevated gantry beam that can move horizontally along the X-axis and Y-axis to form a six-degree-of-freedom elevated gantry-type hybrid configuration machine tool, which can realize complex The six-axis linkage machining of curved surface structural parts has the advantages of large working space, high rigidity, small change of driving load in X-axis and Y-axis directions, good dynamic characteristics, strong reconfigurability and high degree of modularization.

Claims (11)

1. the overhead planer-type series-parallel connection of six degree of freedom configuration lathe; Comprise workbench, column, crossbeam, slide, motor, leading screw, parallelly connected module; Said parallelly connected module mainly is made up of moving platform, fixed platform and four movement branched chain, and wherein three movement branched chain structures are identical all is made up of motor, leading screw, saddle, connecting rod, Hooke's hinge and ball pivot, and distributes axisymmetricly in the space; Middle side chain i.e. the 4th side chain is made up of electronic cylinder and expansion link; It is characterized in that: stationary table is motionless, and parallelly connected module is installed on the slide, and slide realizes that along the guide rail on the crossbeam Y direction moves; Crossbeam realizes that along the guide rail on the column directions X moves, thereby forms overhead planer-type series-parallel connection configuration lathe.

2. the overhead planer-type series-parallel connection of six degree of freedom according to claim 1 configuration lathe; It is characterized in that: three movement branched chain that parallelly connected modular structure is identical distribute in the space axisymmetricly, and its motor-driven leading screw makes saddle can replace along the mode that guide rail moves with the linear motor driving saddle along the mode that guide rail moves.

3. the overhead planer-type series-parallel connection of six degree of freedom according to claim 1 configuration lathe; It is characterized in that: the connecting rod two ends of three movement branched chain that parallelly connected modular structure is identical are connected moving platform and saddle through ball pivot respectively with Hooke's hinge, the expansion link of middle side chain is through the moving platform that is connected of revolute pair and Hooke's hinge.

4. the overhead planer-type series-parallel connection of six degree of freedom according to claim 1 configuration lathe is characterized in that: small end can be connected through be connected with saddle frame mode that the lower end is connected with moving platform through ball pivot of Hooke's hinge that the lower end is connected with moving platform through Hooke's hinge or connecting rod all replaces with the mode that saddle is connected with moving platform respectively through ball pivot at two ends up and down with small end in identical three movement branched chain of parallelly connected modular structure with saddle through ball pivot.

5. the overhead planer-type series-parallel connection of six degree of freedom according to claim 1 configuration lathe; It is characterized in that: the moving sets expansion link replaced in three fixed length connecting rods that movement branched chain adopted that parallelly connected modular structure is identical can be used; This moment, the upper end of expansion link was connected in fixed platform through Hooke's hinge, and the lower end is connected in moving platform through ball pivot.

6. the overhead planer-type series-parallel connection of six degree of freedom according to claim 1 configuration lathe; It is characterized in that: three movement branched chain connecting rods that parallelly connected modular structure is identical are connected all available revolute pair of the ball pivot that is adopted and Hooke's hinge with moving platform combination replaces, and middle side chain is connected the revolute pair that adopted and the available ball pivot replacement of combination of Hooke's hinge with moving platform.

7. the overhead planer-type series-parallel connection of six degree of freedom according to claim 1 configuration lathe is characterized in that: the electronic cylinder type of drive that side chain is adopted in the middle of the parallelly connected module can replace with linear motor driving or hydraulically powered form.

8. the overhead planer-type series-parallel connection of six degree of freedom according to claim 1 configuration lathe, it is characterized in that: the crossbeam of lathe separates with column, and workbench separates with bed piece, is convenient to make separately and equipment.

9. the overhead planer-type series-parallel connection of six degree of freedom according to claim 1 configuration lathe; It is characterized in that: the column of lathe is fixed on the ground; Identical line slideway, drive motors and position feedback device all are installed on the top of two heel posts, and the both sides motor synchronous drives.

10. the overhead planer-type series-parallel connection of six degree of freedom according to claim 1 configuration lathe is characterized in that: the column of lathe all is furnished with and reduces the cavity that internal stress improves rigidity and weight ratio, and cavity is impartial linear array.

11. the overhead planer-type series-parallel connection of six degree of freedom according to claim 1 configuration lathe is characterized in that: the feeding mode that the direct driving sliding block of all available linear electric motors of feeding mode that the motor-driven leading screw that crossbeam and slide the adopted drive slide block of lathe moves moves replaces.

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