CN102528525A - Elevated gantry-type series-parallel configuration machine tool with six degrees of freedom - Google Patents
Elevated gantry-type series-parallel configuration machine tool with six degrees of freedom Download PDFInfo
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- CN102528525A CN102528525A CN2012100349973A CN201210034997A CN102528525A CN 102528525 A CN102528525 A CN 102528525A CN 2012100349973 A CN2012100349973 A CN 2012100349973A CN 201210034997 A CN201210034997 A CN 201210034997A CN 102528525 A CN102528525 A CN 102528525A
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Abstract
The invention relates to a multi-shaft linked elevated gantry-type series-parallel configuration machine tool with six degrees of freedom, and belongs to the field of manufacture of numerically-controlled machine tools. The machine tool mainly comprises a worktable, an upright post, a beam, a slide base and a parallel connection module, wherein the two ends of a connecting rod of three same moving branch chains of a parallel connection module structure are respectively connected with a slide saddle and a movable platform through a hooke joint and a ball joint; and a middle branch chain is connected with the movable platform through an expansion link of an electric cylinder by virtue of the combination of a revolute pair and a hooke joint, and a parallel mechanism module of three-dimensional rotation freedom and one-dimensional movement freedom is arranged on the slide base of the beam of an elevated gantry capable of realizing two-dimensional horizontal movement, thereby forming the elevated gantry-type series-parallel configuration machine tool with six degrees of freedom. The machine tool provided by the invention integrates the advantages of traditional cascade machine tool and the traditional parallel machine tool; the machine tool has the advantages of large working space, high rigidity, small drive load variation in an X-axis direction and a Y-axis direction, good dynamic characteristic, strong reconfigurability, high modularization degree and the like, and is capable of realizing six-shaft linked processing of a complicated curved surface structural member.
Description
Technical field
The invention belongs to Digit Control Machine Tool and make the field, particularly a kind of multi-shaft interlocked overhead planer-type series-parallel connection configuration lathe that can the processed complex Parts with Space Surface.
Background technology
In recent years, in order to improve the adaptability to production environment, satisfy the quick and various market demand, global machine-tool industry is all in the manufacturing equipment and the system that try to explore and develop various Multifunctions.Wherein, surely belong to the parallel machine that the mid-90 in 20th century comes out, claim virtual-shaft machine tool again, be described as " the great revolution of machine tool structure " in the technical breakthrough of machine tool structure.Parallel machine is that the inventive application of multiple freedom parallel mechanism in the Digit Control Machine Tool industry encircled in the space more; Compare with traditional serial number controlled machine of realizing identical functions, parallel machine has that rigidity is big with weight ratio, response speed is fast, reconfigurability is strong, the degree of modularity is high, the geometric error of lathe is accumulated and advantage such as enlarge-effect not exist tradition to connect.Yet, compare with tradition series connection lathe, though pure parallel-connection structure lathe has above-mentioned remarkable advantage; But also exist the anglec of rotation little; Shortcomings such as shift motion is short, and working space and mechanism's volume ratio are little are difficult to realize required big corner and the long stroke motion requirement of big, heavy multiple degrees of freedom processing.Therefore for solving the problem that pure parallel-connection structure lathe exists; Give full play to numerous advantages of parallel-connection structure; Develop and both can guarantee high rigidity, high accuracy and high dynamic characteristic; Can effectively enlarge the novel manufacturing equipment of the anglec of rotation and shift motion again, be one of feasible method that addresses the above problem with the pure parallel-connection structure composition series-parallel connection configuration lathe that combines with tradition series connection lathe.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, use for reference the advantage of traditional cascaded structure lathe and existing parallel machine and design the overhead planer-type series-parallel connection of a kind of six degree of freedom configuration lathe.Overhead planer-type series-parallel connection configuration lathe of the present invention has that working space is big, rigidity is high, X axle and Y direction drive that load variations is little, dynamic property good, reconfigurability is strong and degree of modularity advantages of higher, is specially adapted to process in the industries such as national defence, military project, Aero-Space, generating equipment, mould manufacturing the key structure spare that contains the complex space curved surface.
The overhead planer-type series-parallel connection of a kind 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.
Three movement branched chain that said 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.
The connecting rod two ends of three movement branched chain that said 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.
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 said parallelly connected modular structure with saddle through ball pivot.
The moving sets expansion link replaced in three fixed length connecting rods that movement branched chain adopted that said parallelly connected modular structure is identical can be used, and 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.
Three movement branched chain connecting rods that said 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.
The electronic cylinder type of drive that side chain is adopted in the middle of the said parallelly connected module can replace with linear motor driving or hydraulically powered form.
The crossbeam of said lathe separates with column, and workbench separates with bed piece, is convenient to make separately and equipment.
The column of said lathe is fixed on the ground, and 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.
The column of said lathe all is furnished with and reduces the cavity that internal stress improves rigidity and weight ratio, and cavity is impartial linear array.
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 said lathe moves moves replaces.
The overhead planer-type series-parallel connection of a kind of six degree of freedom configuration lathe that the present invention proposes comprises fixing workbench, column, crossbeam, slide, parallelly connected module.The building block of parallel connection module mainly contains moving platform, is installed in fixed platform and four movement branched chain on the slide; 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 distribute axisymmetricly in the space; The motor-driven leading screw that is fixed on the fixed platform makes saddle move along the guide rail straight line, and the two ends of connecting rod are connected in saddle and moving platform through Hooke's hinge and ball pivot respectively, and middle side chain i.e. the 4th movement branched chain; Be made up of electronic cylinder and expansion link, expansion link is connected in moving platform through revolute pair and Hooke's hinge.Four movement branched chain, fixed platform and moving platforms and the space parallel mechanism module that constitutes thus; Its moving platform has Three dimensional rotation and one dimension one-movement-freedom-degree; This four-degree-of-freedom parallel connection module whole is installed on the slide of the overhead gantry crossbeam that can two-dimensional level moves, promptly constitutes the overhead planer-type series-parallel connection of a kind of six degree of freedom configuration lathe.
Description of drawings
Fig. 1 is the overall structure sketch map of the overhead planer-type series-parallel connection of six degree of freedom of the present invention configuration lathe;
Fig. 2 is the vertical view of the overhead planer-type series-parallel connection of six degree of freedom of the present invention configuration lathe;
Fig. 3 is the slide sketch map of the overhead planer-type series-parallel connection of six degree of freedom of the present invention configuration lathe;
Fig. 4 is the parallelly connected module diagram of the overhead planer-type series-parallel connection of six degree of freedom of the present invention configuration lathe;
Fig. 5 is the upward view of the parallelly connected module of the overhead planer-type series-parallel connection of six degree of freedom of the present invention configuration lathe;
Fig. 6 is the moving platform sketch map of the parallelly connected module of the overhead planer-type series-parallel connection of six degree of freedom of the present invention configuration lathe;
Fig. 7 is the fixed platform sketch map of the parallelly connected module of the overhead planer-type series-parallel connection of six degree of freedom of the present invention configuration lathe;
Fig. 8 is the electronic cylinder sketch map of the parallelly connected module of the overhead planer-type series-parallel connection of six degree of freedom of the present invention configuration lathe.
1. workbench, 2. column, 3. motor, 4. leading screw, 5. crossbeam, 6. motor in wherein scheming; 7. leading screw, 8. slide, 9. parallelly connected module, 10. electric main shaft, 11. moving platforms, 12. expansion links; 13. electronic cylinder, 14. fixed platforms, 15. motors, 16. leading screws, 17. saddles; 18. Hooke's hinge, 19. connecting rods, 20. ball pivots, 21. revolute pairs, 22. Hooke's hinges.
The specific embodiment
The structure accompanying drawing and the embodiment of the overhead planer-type series-parallel connection of six degree of freedom of the present invention configuration lathe specify as follows:
As shown in Figure 1; The machine tool component of the overhead planer-type series-parallel connection of six degree of freedom of the present invention configuration lathe mainly comprises fixed workbench 1, column 2, motor 3, leading screw 4, crossbeam 5, motor 6, leading screw 7, slide 8, parallelly connected module 9; Motor 3 drives leading screw 4 makes crossbeam 5 realize that along the guide rail on the column 2 directions X moves, and motor 6 drives leading screw 7 makes slide 8 realize that along the guide rail on the crossbeam 5 the Y direction moves.Fig. 2 is the vertical view of the overhead planer-type series-parallel connection of six degree of freedom of the present invention configuration lathe.Fig. 3 is the sketch map of the slide 8 of the overhead planer-type series-parallel connection of six degree of freedom of the present invention configuration lathe.With reference to Fig. 4 to Fig. 8; The building block of parallel connection module 9 mainly comprises moving platform 11 that electric main shaft 10 is installed, is installed in fixed platform 14 and four movement branched chain on the slide 8; Wherein three movement branched chain structures are identical all is made up of motor 15, leading screw 16, saddle 17, connecting rod 19, Hooke's hinge 18 and ball pivot 20; And distribute axisymmetricly in the space; The motor 15 driving leading screws 16 that are fixed on fixed platform 14 support plates make saddle 17 along the guide rail moving linearly, and the two ends of connecting rod 19 are connected to saddle 17 and moving platform 11 through Hooke's hinge 18 and ball pivot 20.Middle side chain i.e. the 4th side chain; Form with expansion link 12 by electronic cylinder 13; Expansion link 12 is connected in moving platform 11 through revolute pair 21 and Hooke's hinge 22; Afterwards form parallelly connected module 9, the moving platform 11 of parallelly connected module 9 can be realized moving and respectively around the rotation of X, Y, Z-direction along Z-direction vertical.Parallelly connected module 9 is installed on the slide 8 of overhead gantry crossbeam that can move horizontally along X axle and Y direction and constitutes the overhead planer-type series-parallel connection of a kind of six degree of freedom configuration lathe; This series-parallel connection configuration lathe can realize the processing of the six-axis linkage of complex-curved structural member, and have that working space is big, rigidity is high, X axle and Y direction drive that load variations is little, dynamic characteristic good, reconfigurability is strong and degree of modularity advantages of higher.
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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Cited By (15)
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| CN102962841A (en) * | 2013-01-13 | 2013-03-13 | 中国船舶重工集团公司第七一六研究所 | Overloaded manipulator of ten-shaft double-gantry |
| CN103252673A (en) * | 2013-05-24 | 2013-08-21 | 哈尔滨工业大学（威海） | Horizontal type six-shaft parallel-serial computer numerical control milling machine |
| CN103567799A (en) * | 2012-07-20 | 2014-02-12 | 鸿准精密模具（昆山）有限公司 | Feeding device and machine tool utilizing same |
| CN104029072A (en) * | 2014-06-12 | 2014-09-10 | 邓立伟 | Lathe parallel-connected synchronous motion mechanism |
| CN104400055A (en) * | 2014-10-16 | 2015-03-11 | 清华大学 | Gantry type perforating machine tool |
| CN104647027A (en) * | 2014-12-19 | 2015-05-27 | 上海交通大学 | Vertical intelligent high-pressure rotor assembly device with elastic structure |
| CN104842011A (en) * | 2015-04-08 | 2015-08-19 | 昆明理工大学 | Novel three-degree-of-freedom steel billet burr removal machine |
| CN103942368B (en) * | 2014-04-01 | 2017-07-21 | 大族激光科技产业集团股份有限公司 | A kind of construction design method of laser cutting machine tool |
| CN107838908A (en) * | 2017-11-09 | 2018-03-27 | 中国地质大学（武汉） | A kind of six degree of freedom complex surface machining robot |
| CN107999840A (en) * | 2017-11-03 | 2018-05-08 | 江苏大学 | A kind of weighting automatically grinding device based on screw propeller vertical static balancing instrument |
| CN108340167A (en) * | 2018-05-11 | 2018-07-31 | 清华大学 | A kind of overhead system processing unit (plant) based on the full parallel module of portable five degree of freedom |
| CN110394777A (en) * | 2019-08-20 | 2019-11-01 | 哈尔滨工程大学 | A kind of multi-freedom parallel connection crawl robot for model recycling |
| CN111014761A (en) * | 2019-12-13 | 2020-04-17 | 西安飞机工业（集团）有限责任公司 | Large-span weak-rigidity gantry flexible hole making device |
| CN112318183A (en) * | 2020-11-15 | 2021-02-05 | 浙江工业大学 | Large-stroke five-degree-of-freedom series-parallel machine tool |
| CN113579766A (en) * | 2021-07-23 | 2021-11-02 | 哈尔滨工程大学 | Six-degree-of-freedom serial-parallel hybrid numerical control machine tool and post-processing method thereof |
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| CN103567799B (en) * | 2012-07-20 | 2016-08-03 | 鸿准精密模具（昆山）有限公司 | Feed arrangement and apply the lathe of this feed arrangement |
| CN103567799A (en) * | 2012-07-20 | 2014-02-12 | 鸿准精密模具（昆山）有限公司 | Feeding device and machine tool utilizing same |
| CN102962841A (en) * | 2013-01-13 | 2013-03-13 | 中国船舶重工集团公司第七一六研究所 | Overloaded manipulator of ten-shaft double-gantry |
| CN103252673A (en) * | 2013-05-24 | 2013-08-21 | 哈尔滨工业大学（威海） | Horizontal type six-shaft parallel-serial computer numerical control milling machine |
| CN103942368B (en) * | 2014-04-01 | 2017-07-21 | 大族激光科技产业集团股份有限公司 | A kind of construction design method of laser cutting machine tool |
| CN104029072A (en) * | 2014-06-12 | 2014-09-10 | 邓立伟 | Lathe parallel-connected synchronous motion mechanism |
| CN104029072B (en) * | 2014-06-12 | 2016-03-16 | 邓立伟 | Lathe synchronism mechanism in parallel |
| CN104400055A (en) * | 2014-10-16 | 2015-03-11 | 清华大学 | Gantry type perforating machine tool |
| CN104647027A (en) * | 2014-12-19 | 2015-05-27 | 上海交通大学 | Vertical intelligent high-pressure rotor assembly device with elastic structure |
| CN104647027B (en) * | 2014-12-19 | 2017-02-22 | 上海交通大学 | Vertical intelligent high-pressure rotor assembly device with elastic structure |
| CN104842011A (en) * | 2015-04-08 | 2015-08-19 | 昆明理工大学 | Novel three-degree-of-freedom steel billet burr removal machine |
| CN104842011B (en) * | 2015-04-08 | 2017-07-25 | 昆明理工大学 | A kind of 3DOF steel billet burr rejecting machine |
| CN107999840A (en) * | 2017-11-03 | 2018-05-08 | 江苏大学 | A kind of weighting automatically grinding device based on screw propeller vertical static balancing instrument |
| CN107838908A (en) * | 2017-11-09 | 2018-03-27 | 中国地质大学（武汉） | A kind of six degree of freedom complex surface machining robot |
| CN108340167A (en) * | 2018-05-11 | 2018-07-31 | 清华大学 | A kind of overhead system processing unit (plant) based on the full parallel module of portable five degree of freedom |
| CN110394777A (en) * | 2019-08-20 | 2019-11-01 | 哈尔滨工程大学 | A kind of multi-freedom parallel connection crawl robot for model recycling |
| CN110394777B (en) * | 2019-08-20 | 2022-06-17 | 哈尔滨工程大学 | Multi-degree-of-freedom parallel grabbing robot for model recovery |
| CN111014761A (en) * | 2019-12-13 | 2020-04-17 | 西安飞机工业（集团）有限责任公司 | Large-span weak-rigidity gantry flexible hole making device |
| CN111014761B (en) * | 2019-12-13 | 2021-02-09 | 西安飞机工业（集团）有限责任公司 | Large-span weak-rigidity gantry flexible hole making device |
| CN112318183A (en) * | 2020-11-15 | 2021-02-05 | 浙江工业大学 | Large-stroke five-degree-of-freedom series-parallel machine tool |
| CN112318183B (en) * | 2020-11-15 | 2024-05-28 | 浙江工业大学 | Large-stroke five-degree-of-freedom series-parallel machine tool |
| CN113579766A (en) * | 2021-07-23 | 2021-11-02 | 哈尔滨工程大学 | Six-degree-of-freedom serial-parallel hybrid numerical control machine tool and post-processing method thereof |
| CN113579766B (en) * | 2021-07-23 | 2022-08-02 | 哈尔滨工程大学 | Six-degree-of-freedom serial-parallel hybrid numerical control machine tool and post-processing method thereof |
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