CN103240614B - A kind of redundant drive five-axle linkage series-parallel machine tool - Google Patents
A kind of redundant drive five-axle linkage series-parallel machine tool Download PDFInfo
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- CN103240614B CN103240614B CN201310179060.XA CN201310179060A CN103240614B CN 103240614 B CN103240614 B CN 103240614B CN 201310179060 A CN201310179060 A CN 201310179060A CN 103240614 B CN103240614 B CN 103240614B
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Abstract
The present invention relates to a kind of redundant drive five-axle linkage series-parallel machine tool, comprise lathe bed and be consolidated in the column extension on lathe bed, workbench that the moving platform of an installation main shaft, an installation are cut workpiece, connect the first, second, third and fourth side chain between described moving platform and lathe bed and column extension thereof, five-axle linkage can be realized and control.This lathe has that compact, kinematics simple for structure is relatively simple, rigidity is high, repetitive positioning accuracy good, working space and the advantage such as lathe volume ratio is relatively large.
Description
Technical field
The invention belongs to Digit Control Machine Tool field, particularly a kind ofly can meet novel five-axle linkage redundancy series-parallel machine tool complex free curved surface class part being carried out to multi-axis NC machining.
Background technology
The frame for movement of traditional numeric-control machine adopts cascade to realize mostly, this cascaded structure form its movement output end is more easily produced the accumulation of error, integral rigidity are not high, movement inertia is large and dynamic response characteristic is poor.Comparatively speaking, the novel lathe based on parallel institution that the nineties in last century occurs have compact conformation, high, the error free accumulation of rigidity, heavy moving parts little, be easy to realize high-speed motion and there is the advantages such as higher dynamic response characteristic, compensate for the deficiency of traditional numeric-control machine to a certain extent, cater to the demand of field of machining to high-speed cutting, and then got the attention and study.But parallel machine also has its inborn limitation, the especially full parallel machine of six degree of freedom, the shortcoming such as its sports coupling is strong, working space is little, kinematics is complicated and numerical control programming is complicated limits the wide popularization and application of parallel machine.Along with the application of parallel institution and making constant progress of parallel institution, minority carrier generation lifetime is more and more subject to attention and the favor of researcher.For full 6-dof parallel mechanism, minority carrier generation lifetime has the advantages such as kinematics is simple, coupling is weak, easy modularization, and some minority carrier generation lifetime obtain successful Application in industrial circle.
In field of machining, along with the design of modern mechanical parts becomes increasingly complex, Space Free-Form Surface type component has been widely used in each emphasis key area, as Aero-Space, automobile etc.This type of application, higher demand is proposed to modern processing technique and manufacture process equipment, in order to meet above functional configuration, combine serial machine tool and the series-parallel machine tool of parallel machine advantage to achieve in the industry and relatively to apply widely, this type of lathe has that serial machine tool working space is large and axial parallel machine tool structure is compact, dynamic response characteristic good concurrently, is easy to realize the advantages such as high-speed motion, is more suitable for the high-speed cutting processing being applied to Space Free-Form Surface type component.Above advantage makes series-parallel machine tool be with a wide range of applications in mechanical manufacturing field, and the five-axle linkage series-parallel machine tool wherein crucial manufacturing equipment be badly in need of of each key industry especially.And in lathe, introduce the combination property that redundant drive can improve lathe further, especially rigidity and precision characteristic.Therefore, the machining for free form surface class part is improved better solution by five-axle linkage redundance driving hybrid lathe.
Summary of the invention
In order to the multi-axis NC machining demand of satisfied modern complex free curved surface class part, the present invention proposes a kind of novel redundant drive five-axle linkage series-parallel machine tool, this lathe combines the advantage of serial machine tool and parallel machine, has the advantages such as compact conformation, working space is large, dynamic response characteristic is good.Meanwhile, owing to introducing redundant drive in it is with movable joint, this lathe has better rigidity and precision property.
According to a technical scheme of the present invention, a kind of redundant drive five-axle linkage series-parallel machine tool of the present invention, comprise lathe bed, three are consolidated in the column extension on lathe bed, a redundancy slide unit, the moving platform of an installation main shaft, an installation are cut workpiece workbench, connect the first side chain, the second side chain, the 3rd side chain and the 4th side chain between described moving platform and lathe bed and column extension thereof, disc moving platform is that 90 ° of deciles are arranged by the hinged central point of the first side chain, the second side chain, the 3rd side chain and the 4th side chain and moving platform;
First side chain, the second side chain are identical with the 3rd branched structure, include: slide block, connecting rod and kinematic pair, described kinematic pair has three, one is the moving sets P be connected between lathe bed column extension and slide block, one is the ball pivot S be connected between slide block and connecting rod, and one is the ball pivot S be connected between connecting rod and moving platform;
Described 4th side chain comprises redundancy slide unit, slide block, connecting rod and kinematic pair, described kinematic pair has four, one is the moving sets P be connected between lathe bed and redundancy slide unit, one is the moving sets P be connected between redundancy slide unit and slide block, one is the revolute pair R be connected between slide block and connecting rod, and one is the revolute pair R be connected between connecting rod and moving platform;
Described first side chain, the second side chain, the 3rd side chain and the 4th side chain are connected to form a Spatial Parallel close loop mechanism with lathe bed, column extension, redundancy slide unit and moving platform respectively, this Spatial Parallel close loop mechanism drives moving platform motion by five input motions, realizes three translational degree of freedom and a rotational freedom; The workbench that described installation is cut workpiece can realize the one-dimensional rotation free degree, is combined can realize five-axle linkage and control with Spatial Parallel closed chain mechanism.
According to redundant drive five-axle linkage series-parallel machine tool of the present invention, the moving sets be connected between lathe bed column extension and slide block is active drive, and this side chain is PSS type movement branched chain.
According to redundant drive five-axle linkage series-parallel machine tool of the present invention, be connected to the moving sets between lathe bed and redundancy slide unit and the moving sets be connected between redundancy slide unit and slide block is all active drive, this side chain is PPRR type movement branched chain.
This lathe has that compact, kinematics simple for structure is relatively simple, working space and the advantage such as lathe volume ratio is relatively large.Meanwhile, owing to have employed redundant drive technology, this lathe has higher rigidity and good repetitive positioning accuracy.These advantages make this lathe while the 5-shaft linkage numerical control processing request meeting complex free curved surface class part, have good rigidity and precision property.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention.
Detailed description of the invention
One of the present invention novel redundant drive five-axle linkage series-parallel machine tool by reference to the accompanying drawings and embodiment be described in detail as follows:
The one novel redundant drive five-axle linkage series-parallel machine tool that the present invention proposes, comprise lathe bed and three column extensions be consolidated on lathe bed, a redundancy slide unit, the disc moving platform of an installation main shaft, an installation is cut the workbench of workpiece, connect first between described moving platform and lathe bed and column extension thereof, second, third and fourth side chain, first, second, third and fourth side chain and moving platform are distinguished hinged, disc moving platform is 90 ° of deciles by each hinged central point, such moving platform can realize the feature of parallelogram sturcutre, operate more flexible, steadily.
The kinematic pair of this first, second, and third side chain all containing an active drive; It is characterized in that: described 4th side chain contains the kinematic pair of two active drive; Described first side chain, the second side chain, the 3rd side chain and the 4th side chain are connected to form a Spatial Parallel close loop mechanism with lathe bed and column extension thereof and moving platform respectively, disc moving platform is that 90 ° of deciles are arranged by the hinged central point of the first side chain, the second side chain, the 3rd side chain and the 4th side chain and moving platform, this Spatial Parallel close loop mechanism drives moving platform motion by five input motions, realizes three translational degree of freedom and a rotational freedom; The workbench that described installation is cut workpiece can realize the one-dimensional rotation free degree, is combined can realize five-axle linkage and control with Spatial Parallel closed chain mechanism.
One of the present invention novel redundant drive five-axle linkage series-parallel machine tool, first, second, and third branched structure is identical, is PSS type movement branched chain (wherein, P represents moving sets, S represents ball pivot, and P represents this kinematic pair is active drive), the 4th side chain is PPRR type movement branched chain.Be described as follows:
First, second, and third side chain includes: slide block, connecting rod and kinematic pair.Described kinematic pair has three, and one is the moving sets P be connected between lathe bed column extension and slide block, and one is the ball pivot S be connected between slide block and connecting rod, and one is the ball pivot S be connected between connecting rod and moving platform.Wherein, the moving sets P be connected between lathe bed column extension and slide block is active drive, and this side chain is PSS type movement branched chain.4th side chain comprises: redundancy slide unit, slide block, connecting rod and kinematic pair.Described kinematic pair has four, one is the moving sets P be connected between lathe bed and redundancy slide unit, one is the moving sets P be connected between redundancy slide unit and slide block, and one is the revolute pair R be connected between slide block and connecting rod, and one is the revolute pair R be connected between connecting rod and moving platform.Wherein, being connected to the moving sets P between lathe bed and redundancy slide unit and the moving sets P be connected between redundancy slide unit and slide block is all active drive, and this side chain is PPRR type movement branched chain.
Embodiment:
The structure of a kind of novel redundant drive five-axle linkage series-parallel machine tool of the present embodiment as shown in Figure 1, comprise lathe bed 11 and be consolidated in the column extension 15 on lathe bed, column extension 19, column extension 110, redundancy slide unit 17, the moving platform 114 of main shaft is installed, the workbench 115 being cut workpiece is installed, connect described moving platform 114 and lathe bed 11 and column extension 15 thereof, column extension 19, between column extension 110 first, second, third and fourth side chain, described first, second, third and fourth side chain respectively with lathe bed 11 and the column extension 15 that is consolidated on lathe bed, column extension 19, column extension 110 and moving platform 114 are connected to form a Spatial Parallel close loop mechanism, the workbench 115 that described installation is cut workpiece is connected by revolute pair with lathe bed 11.
Described first, second, and third branched structure is identical, is PSS type movement branched chain, comprises: slide block 14, slide block 18, slide block 111, connecting rod 13, connecting rod 113, connecting rod 112 and kinematic pair.Described kinematic pair has three, one is be connected to the moving sets P between lathe bed column extension 15, column extension 19, column extension 110 and slide block 14, slide block 18, slide block 111, one is be connected to the ball pivot S between slide block 14, slide block 18, slide block 111 and connecting rod 13, connecting rod 113, connecting rod 112, and one is be connected to connecting rod 13, connecting rod 113, ball pivot S between connecting rod 112 and moving platform 114.Wherein, the moving sets P be connected between lathe bed column extension 15, column extension 19, column extension 110 and slide block 14, slide block 18, slide block 111 is active drive.Described 4th side chain comprises: redundancy slide unit 17, slide block 16, connecting rod 12 and kinematic pair.Described kinematic pair has four, one is the moving sets P be connected between lathe bed 11 and redundancy slide unit 17, one is the moving sets P be connected between redundancy slide unit 17 and slide block 16, one is be connected to the revolute pair R between slide block 16 and connecting rod 12, and one is be connected to the revolute pair R between connecting rod 12 and moving platform 114.Wherein, being connected to the moving sets P between lathe bed 11 and redundancy the slide unit 17 and moving sets P be connected between redundancy slide unit 17 and slide block 16 is active drive.
Described first, second, third and fourth side chain and moving platform are distinguished hinged, disc moving platform is 90 ° of deciles by each hinged central point, such moving platform can realize the feature of parallelogram sturcutre, can realize the flexible modulation to moving platform plane, can ensure again the stationarity operated.
Claims (1)
1. a redundant drive five-axle linkage series-parallel machine tool, comprise lathe bed, three are consolidated in the column extension on lathe bed, a redundancy slide unit, the moving platform of an installation main shaft, an installation are cut workpiece workbench, connect the first side chain, the second side chain, the 3rd side chain and the 4th side chain between described moving platform and lathe bed and column extension thereof, the hinged central point of the first side chain, the second side chain, the 3rd side chain and the 4th side chain and moving platform is arranged in 90 ° of deciles on disc moving platform;
First side chain, the second side chain are identical with the 3rd branched structure, include: slide block, connecting rod and kinematic pair, described kinematic pair has three, one is the moving sets P be connected between lathe bed column extension and slide block, one is the ball pivot S be connected between slide block and connecting rod, one is the ball pivot S be connected between connecting rod and moving platform, and this side chain is PSS type movement branched chain, and the moving sets be wherein connected between lathe bed column extension and slide block is active drive;
Described 4th side chain comprises redundancy slide unit, slide block, connecting rod and kinematic pair, described kinematic pair has four, one is the moving sets P be connected between lathe bed and redundancy slide unit, one is the moving sets P be connected between redundancy slide unit and slide block, one is the revolute pair R be connected between slide block and connecting rod, one is the revolute pair R be connected between connecting rod and moving platform, this side chain is PPRR type movement branched chain, wherein, the moving sets between lathe bed and redundancy slide unit is connected to and the moving sets be connected between redundancy slide unit and slide block is all active drive;
Described first side chain, the second side chain, the 3rd side chain and the 4th side chain are connected to form a Spatial Parallel close loop mechanism with lathe bed, column extension, redundancy slide unit and moving platform respectively, this Spatial Parallel close loop mechanism drives moving platform motion by five input motions, realizes three translational degree of freedom and a rotational freedom; The workbench that described installation is cut workpiece can realize the one-dimensional rotation free degree, is combined can realize five-axle linkage and control with Spatial Parallel closed chain mechanism.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104635627B (en) * | 2014-12-17 | 2017-03-08 | 河南理工大学 | A kind of precision control method of five degree of freedom serial-parallel mirror mechanism |
| CN104972455B (en) * | 2015-07-14 | 2016-10-05 | 燕山大学 | There is the series-parallel robot of redundant drive based on plane parallel mechanism |
| CN106736634B (en) * | 2016-12-23 | 2018-09-25 | 南京理工大学 | A kind of three translation parallel lathe of big working space of additional redundancy Circular Sliding |
| CN106493582B (en) * | 2016-12-23 | 2018-09-25 | 南京理工大学 | A kind of three translation parallel lathe of big working space adding the sliding of two redundancies |
| CN110695716A (en) * | 2019-10-09 | 2020-01-17 | 浙江交通职业技术学院 | Five-freedom-degree redundant drive hybrid machine tool for machining complex curved surface of large workpiece |
| CN113909711B (en) * | 2021-10-15 | 2023-03-03 | 湖南大学 | Working platform capable of realizing multi-axis linkage |
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| CN1586807A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation |
| CN101844307A (en) * | 2010-04-30 | 2010-09-29 | 清华大学 | Redundancy-driven three-degree-of-freedom parallel mechanism |
| CN103008152A (en) * | 2012-12-19 | 2013-04-03 | 江苏长虹汽车装备集团有限公司 | Modular spray coating device |
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| SE527873C2 (en) * | 2004-11-18 | 2006-07-04 | Exechon Ab | Parallel kinematic machine |
| US8893578B2 (en) * | 2009-02-13 | 2014-11-25 | Fanuc Corporation | Parallel robot provided with wrist section having three degrees of freedom |
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|---|---|---|---|---|
| CN1586807A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation |
| CN101844307A (en) * | 2010-04-30 | 2010-09-29 | 清华大学 | Redundancy-driven three-degree-of-freedom parallel mechanism |
| CN103008152A (en) * | 2012-12-19 | 2013-04-03 | 江苏长虹汽车装备集团有限公司 | Modular spray coating device |
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Effective date of registration: 20230612 Address after: No. 669 Mingzhu East Road, Jianhu Economic Development Zone, Jiangsu Province, 224700 Patentee after: Jiangsu Guowei Engineering Machinery Co.,Ltd. Patentee after: TSINGHUA University Address before: No. 669 Mingzhu East Road, Jianhu Economic Development Zone, Jiangsu Province, 224700 Patentee before: Jiangsu Guowei Engineering Machinery Co.,Ltd. |
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