CN103722432A - Differential screw mechanism and multi-shaft machine tool based on differential screw mechanism - Google Patents
Differential screw mechanism and multi-shaft machine tool based on differential screw mechanism Download PDFInfo
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- CN103722432A CN103722432A CN201310737514.0A CN201310737514A CN103722432A CN 103722432 A CN103722432 A CN 103722432A CN 201310737514 A CN201310737514 A CN 201310737514A CN 103722432 A CN103722432 A CN 103722432A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
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Abstract
The invention relates to a differential screw mechanism which is composed of a nut rotation unit (1), a spline housing rotation unit (2), a lead screw spline shaft (3) and a rack (4). The nut rotation unit (1) and the spline housing rotation unit (2) are fixedly connected to the two ends of the rack (4), and the lead screw spline shaft (3) penetrates through the position between the nut rotation unit (1) and the spline housing rotation unit (2) and runs between the nut rotation unit (1) and the spline housing rotation unit (2). The differential screw mechanism is a differential screw power head which is characterized in that a differential motion principle is adopted for enabling two motors at determined relative positions to drive two nuts with different leads respectively and to simultaneously drive a screw with different leads at the two ends through the two nuts, the screw simultaneously moves in the axial direction and rotates around the axis, multi-shaft machine tools in various modes are formed by one or more differential screw power heads and other moving or rotating motion units jointly, and a bran-new five-shaft linkage blade machine tool is formed by two differential screw power heads and one moving motion unit.
Description
Technical field
The present invention relates to a kind of differential screw mechanism and the gang tool based on differential screw mechanism, it is a kind of double freedom screw-drive mechanism and the Digit Control Machine Tool based on a plurality of numerical control axles of having of screw mechanism, belongs to Machining Technology and equipment field.
Background technology
The Digit Control Machine Tool overwhelming majority more than current various four axles adopts the principle of serial mechanism, generally by two driving-chains simultaneously from lathe base and extend to respectively main shaft and the workbench of lathe, be used to and be installed on the workpiece on workbench and be installed on cutter on main shaft or emery wheel provides by programme controlled complicated relative feed movement between the two, thereby realize the processing to various complex structural members.This class lathe is cascaded structure because of what adopt, so far away being always superimposed on the nearer moving cell of the bed foundation of disembarking of bed foundation of disembarking in two adjacent moving cells, the quality that each motion platform need to move or inertia always superpose quality or the inertia sum of all motion platforms thereon, the quality of moving cell or the inertia that more approach lathe base are just larger, this makes basic motion platform when realizing High acceleration motion, need larger driving force, this is also that conventional cascaded structure Digit Control Machine Tool acceleration of motion is difficult to obtain the major reason significantly improving, the lathe acceleration great majority that can reach are at present between 0.3g-3g, to further improve and need to pay higher cost.Adopt parallel machine can effectively solve the too low problem of motion platform acceleration, but the rigidity of six-degree-of-freedom parallel bed is very poor, be difficult to bear the heavy load of cutting process, therefore there is the Series-parallel Machine that parallel machine and series connection lathe are combined, this class lathe has high acceleration characteristic and high stiffness characteristics simultaneously, therefore in the application that succeeds on large-size numerical control machine for processing of aluminum alloy junction member, but the kinematic pair rigidity of the Series-parallel Machine of this employing imaginary axis is poor, and hunting range is little, the rigidity of different directions is different, be not suitable for high precision machine tool, as blade free form surface grinding machine.Blade processing lathe and cutter sharpener are current two kinds of typical cases and important Digit Control Machine Tools for processed complex curved surface, and its number of axle reaches 4-6 axle and even 7 axles.Gear cutting machine also has the structure needing more than 4 axles, and these lathes are the basic cascaded structure that adopts at present.But be subject to the restriction of lathe acceleration, while adopting helical method for processing machining blade intake and exhaust edge regions, chord length can shorten, processing often occurred cutting during turning, feed speed is difficult to reach more satisfactory value, and these problems have seriously limited the development of complex surface machining technology, the lifting of the reduction of processing cost and working (machining) efficiency.Development high acceleration and high-precision Digit Control Machine Tool are imperative.
Adopt the method for traditional light-weight design technology, linear drives technology and increase power of motor to be difficult to realize the significantly lifting of lathe acceleration, so must look for another way, from the mechanism principle of lathe, find more basic solution.
Summary of the invention
1, object: the object of this invention is to provide a kind of differential screw mechanism and the gang tool based on differential screw mechanism, it has overcome the deficiencies in the prior art, it is a kind of brand-new lathe kind of drive of utilizing differential screw mechanism principle, the rotating shaft and the shifting axle that are about to Digit Control Machine Tool are combined into a helical axis, and utilize differential principle to make the motor of two Relative position determinations drive respectively the nut of two different Guide journeys, and by these two nuts, drive two ends to have the screw rod of different Guide journeys (the Guide journey of one of them screw rod can be infinity simultaneously, be rolling spline), make screw rod do the movement of axis direction and around the differential screw unit head rotatablely moving of axis simultaneously, and utilize one or more spiral unit heads and other to move or the unit that rotatablely moves jointly forms and various forms of multi-shaft interlocked lathes, as 3-6 axle lathe.Especially, with two differential screw unit heads and an a kind of brand-new five-axle linked blade machining tool of moving movement cell formation.
2, technical scheme: to achieve the object of the present invention, take following technical scheme to realize:
See Fig. 2, a kind of differential screw mechanism of the present invention, it is comprised of nut rotary unit 1, spline housing rotary unit 2, leading screw splined shaft 3 and frame 4; Position annexation between them is: nut rotary unit 1 and spline housing rotary unit 2 are connected in frame 4 two ends, and leading screw splined shaft 3 runs through between nut rotary unit 1 and spline housing rotary unit 2 and between above-mentioned Unit two and turns round.
Described nut rotary unit 1, is by grating reading head 101, grating dial 102, nut unit left end cap 103, nut left bearing 104, a ball nut left side half 105, motor stator 106, rotor 107, the ball nut right side half 108, nut unit right end cap 109 and nut right bearing 110 form; Position annexation between them is: ball nut left half 105, rotor 107, ball nut right half 108 is connected by screw as nut rotor assembly, they are supported in respectively on nut unit left end cap 103 and nut unit right end cap 109 by nut left bearing 104 and nut right bearing 110, nut unit left end cap 103 and nut unit right end cap 109 are connected by screw on the housing of this nut rotary unit with motor stator 106, and housing is connected by screw in frame 4; Its effect is driven by servomotor ball nut left half 105 and the right partly 108 ball nut rotations that form of ball nut that utilize motor stator 106 and rotor 107 to form, this nut drives leading screw splined shaft to axially move because having rotatablely moving of relative leading screw, and the anglec of rotation of nut can detect to realize closed-loop control by grating or other the similar angle detection device being comprised of grating reading head 101 and grating dial 102.This grating reading head is one of part of grating, and for reading the position data of grating dial, it is common and one of grating dial formation is whole as revolution grating standard component, can buy from the market; This grating dial is the graduation apparatus of revolution grating, is carved with striped on it, and its current location can utilize principle of interference by grating reading head, to be read and pass to digital control system; This nut unit left end cap and right end cap are for being fixed on motor stator in frame and providing installing space for fixed grating read head with for nut bearing; This nut left bearing and right bearing are for support motor stator and ball nut; A ball nut of the common composition of this ball nut the left half and the right half, they are installed together conventionally for eliminating gap, the two ends that also can be installed on rotor as the present invention are for improving the bearing length of nut, but exist the temperature of rotor to affect problem, need fully cooling; This motor stator and rotor form servomotor, stator and the rotor that can be conventionally torque motor form, rotor can be replaced with to gear or profile of tooth belt wheel if desired, its gyration sends this gear or profile of tooth belt wheel to by outside servomotor.
Described spline housing rotary unit 2, by grating reading head 201, grating dial 202, spline unit right end cap 203, spline housing right bearing 204, the rolling spline cover right side half 205, motor stator 206, rotor 207, a rolling spline cover left side half 208, spline unit left end cap 209 and spline housing left bearing 21 compositions; Position annexation between them is: rolling spline cover right half 205, rotor 207, rolling spline cover left half 208 is connected by screw as spline housing rotor assembly, they are supported in respectively on spline unit right end cap 203 and spline unit left end cap 209 by spline housing right bearing 104 and spline housing left bearing 110, spline unit right end cap 203 and spline unit left end cap 209 are connected by screw on the housing of this spline housing rotary unit with motor stator 206, and housing is connected by screw in frame 4.Grating reading head 201 is fixed on spline unit right end cap 203, and grating dial 102 is fixed on rolling spline cover right half 205, and they are for measuring the angular displacement of spline housing rotor assembly; Its effect is the driven by servomotor spline housing rotor assembly rotation that utilizes motor stator 206 and rotor 207 to form, this spline housing rotor assembly drives leading screw splined shaft to do synchronized gyration by spline, and the anglec of rotation of spline housing rotor assembly can detect to realize closed-loop control by grating or other the similar angle detection device being comprised of grating reading head 201 and grating dial 202.This grating reading head is one of part of grating, and for reading the position data of grating dial, it is common and one of grating dial formation is whole as revolution grating standard component, can buy from the market; This grating dial is the graduation apparatus of revolution grating, is carved with striped on it, and its current location can utilize principle of interference by grating reading head, to be read and pass to digital control system; This spline housing rotor assembly unit left end cap and right end cap are for being fixed on motor stator in frame and providing installing space for fixed grating read head with for spline housing bearing; This spline housing left bearing and right bearing are for support motor stator and rolling spline; This rolling spline the left half and the right half is common forms a rolling spline cover, and they can only realize same function with one, and adopt two can improve support stiffness simultaneously, only adopt the two one of time another part inside can retain large circular hole; This motor stator and rotor form servomotor, stator and the rotor that can be conventionally torque motor form, rotor can be replaced with to gear or profile of tooth belt wheel if desired, its gyration sends this gear or profile of tooth belt wheel to by outside servomotor.
A part for described leading screw splined shaft 3 is ball-screw, and another part is rolling spline, respectively with ball nut and rolling spline engagement.
Described frame 4 is by the box hardware welding or casting technique is made, the matrix of Ta Shigai mechanism, and other Unit three interconnects with it.
Wherein, according to the transmission principle of the transmission principle of screw mechanism and spline, leading screw splined shaft can be by ball nut-spline housing, ball nut-splined shaft, leading screw-spline housing, four kinds of schemes such as leading screw-splined shaft form, and therefore can construct very abundant screw mechanism structure.Described concrete mechanism and structure also can convert out various structures form according to the requirement of topological invariance and mechanism's equivalence and intensity and toughness, as single nut mode, single spline housing mode etc.
Wherein, when spindle motor being installed in this mechanism, just form a unit head with screw, when workbench T is connected in this mechanism, just formed the workbench with 2 freedoms of motion.Two different installation sites such as the middle part according to workbench and main shaft on leading screw splined shaft or end, can form two kinds of frame modes of freely-supported and cantilever, be simply-support differential screw workbench, simply-support differential screw unit head, cantilevered differential screw workbench cantilevered differential screw unit head.
Wherein, adopt a cantilevered differential screw workbench and a cantilevered differential screw unit head can form the four-shaft numerically controlled lathe of a kind of double differential spiral.
Wherein, behind two differential screw moving cells of employing and a horizontal rectilinear motion unit, can form a kind of double differential spiral five-axle number control machine tool.
Wherein, rolling spline wherein also can adopt another ball nut different from previous nut Guide journey to replace, and forms the differential screw moving cell with two ball nut-guide screw movement pairs, can be for simplifying lathe pre-pressing structure.
Wherein, its centre of gyration servomotor concentric with output leading screw splined shaft forming with motor stator 106 and rotor 107 or motor stator 206 and rotor 207 can adopt one with to export leading screw splined shaft parallel but have the common servomotor of certain distance and one group of gear driving pair or one group of cog belt transmission and combine, one of them driven toothed belt wheel or driven gear instead of electr ic motor rotor are fixed on current position, on the output shaft that active profile of tooth belt wheel wherein or driving gear are installed on common servomotor.
Wherein, after the stator and rotor of the common servomotor with eccentric and one group of gear driving pair or the concentric servomotor of one group of cog belt transmission combination replacement, the described grating being comprised of grating reading head 101 and grating dial 102 or other angle detection device and the grating being comprised of grating reading head 201 and grating dial 202 or other angle detection device can be cancelled when realizing open loop control.
Wherein, described ball-screw-ball nut kinematic pair can adopt lead screw-nut kinematic pair to replace when required precision is not high.
Wherein, described rolling spline-rolling spline cover kinematic pair can adopt one group to be installed on a line slideway on housing-substitute, and can significantly increase torsional rigidity.
Fig. 1 is the transmission principle figure of differential screw moving cell.In figure, the rotor A2 of drive nut is supported on frame A5 by nut left bearing A1 and nut right bearing A6, the motor stator A3 of nut drive motors is fixed on frame A5, it is upper that ball nut A4 is fixed on rotor A2, and ball-screw A7 is connected with the screw pair that ball nut A4 is P by helical pitch.When rotor A2 rotates with angular speed W1, leading screw ball-screw A7 can do the moving movement of axis direction.Drive the rotor B2 of spline housing B5 rotation to be supported on frame B4 by spline housing left bearing B1 and spline housing right bearing B5, driving the B3 of spline housing B5 rotation is that motor stator is fixed on frame B4, it is upper that rolling spline cover B6 is fixed on rotor B2, and rolling spline axle B7 is connected with rolling spline pair with spline housing B5.Rotor is not 2 when rotate with angular speed W2, and what leading screw splined shaft (output shaft) C was Wc by the speed of doing rotatablely moves, and Wc=W1, and its translational speed Vc=(W1-W2) P/2/ Π., under driving in nut A4 and spline housing B5, leading screw splined shaft rotatablely moves output simultaneously and rectilinear motion, exports a screw.
According to the relativity of motion, leading screw splined shaft all adopts is the mechanism that external screw thread in screw-nut body or external splines are combined into, in fact spline housing and ball nut also can participate in being combined into the export structure of various ways, comprise nut-spline way of output, nut-spline housing way of output, leading screw-spline housing way of output, can obtain altogether together four kinds of different way of outputs from the mode shown in Fig. 1. and ball nut often adopts pre-pressing structure, be that each nut or spline housing can form by two sections, by pinching in advance, turn certain angle or add that therebetween certain thickness adjustment pad eliminates gap wherein and improve it and reverse and the rigidity of axially-movable.
In addition, spline can be thought the special case of nut, and rolling spline can be thought the infinitely-great ball nut of Guide journey.Therefore, the form that this mechanism is the most general is that the rolling spline that Fig. 1 plants can be also ball-screw-nut kinematic pair, now the axis translational speed of output shaft is Vc=(W1P2-W2P1) P/2/ Π, the angular speed of output shaft is that Wc=(W1P1-W2P2)/(P1-P2), wherein P1 is the Guide journey of nut 1, the Guide journey that P2 is nut 2.The benefit of this mechanism is, when output shaft rigidity is enough good, each nut only consists of a nut, and gap wherein relatively rotates a low-angle by two motors and controls.From in essence, screw mechanism is a kind of parallel institution, but be a kind of have the standardization of its part of good industrial foundation and 2DOF parallel institution that does not adopt spherical bearing of widely applying, when nut and spline precision are enough high, these two moving cells have saved the linear motion guide rail of ordinary meaning, therefore its structure is greatly simplified, and its cost obtains significantly and reduces.
Fig. 2 is according to the typical structure of a kind of differential screw moving cell of Fig. 1 principle design.In figure, ball nut left half 105, rotor 107, ball nut right half 108 is connected by screw as nut rotor assembly, they are supported in respectively on nut unit left end cap 103 and nut unit right end cap 109 by nut left bearing 104 and nut right bearing 110, nut unit left end cap 103 and nut unit right end cap 109 are connected by screw on the housing of this nut rotary unit with motor stator 106, and housing is connected by screw on base 4.Grating reading head 101 is fixed on nut unit left end cap 103, and grating dial 102 is fixed on ball nut left half 105, and they are for measuring the angular displacement of nut rotor assembly.Rolling spline cover right half 205, rotor 207, rolling spline cover left half 208 is connected by screw as spline housing rotor assembly, they are supported in respectively on spline unit right end cap 203 and spline unit left end cap 209 by spline housing right bearing 104 and spline housing left bearing 110, spline unit right end cap 203 and spline unit left end cap 209 are connected by screw on the housing of this spline housing rotary unit with motor stator 206, and housing is connected by screw on base 4.Grating reading head 201 is fixed on spline unit right end cap 203, and grating dial 102 is fixed on rolling spline cover right half 205, and they are for measuring the angular displacement of nut rotor assembly.
When rotor 107 and 207 difference drive nut rotor assembly and the rotation of spline housing rotor assembly, leading screw splined shaft 4 will be exported the rectilinear motion of axis direction simultaneously and around the rotatablely moving of this axis, form the screw unit of exportable given any screw as output shaft.
When spindle motor S is installed in this mechanism, just form a unit head with screw, when workbench T is connected in this mechanism, just formed the workbench with 2 freedoms of motion.The different installation sites on leading screw splined shaft 4 according to workbench and main shaft, can form two kinds of modes of freely-supported and cantilever, Fig. 3 is a kind of simply-support differential screw workbench, Fig. 4 is a kind of simply-support differential screw unit head, Fig. 5 is a kind of cantilevered differential screw workbench, and Fig. 6 is a kind of cantilevered differential screw unit head.
A kind of double differential spiral four axle lathe typical structures of Fig. 7 for adopting the cantilevered differential screw workbench shown in Fig. 5 and the cantilevered differential screw unit head shown in Fig. 6 to form.In Gai mechanism, between main shaft and workbench, can there are two straight line relative motions and two revolutions relative motion, i.e. just in time two screws.Fig. 8 for increasing a kind of double differential spiral five-axis machine tool typical structure of horizontal rectilinear motion unit 4 rear formation in mechanism shown in Fig. 7.In Gai mechanism, between main shaft and workbench, can there are 3 straight line relative motions and two revolution relative motions, just in time by two screws and a rectilinear motion, be formed, can realize five-axle linkage working motion.
3, advantage and effect: 1) significantly improve lathe acceleration, improve complex-curved working (machining) efficiency and machining accuracy.Utilizing differential screw mechanism the moving mass in traditional mechanism being comprised of a linear motion unit and gyration unit can be alleviated from the quality of a workbench and a motor is the quality of a leading screw, this qualitative change can reach 10 times to 100 times conventionally, because screw mandrel and spline can be integrated on the same section of face of cylinder, can further alleviate quality and the inertia of movable part like this, therefore, with traditional scheme comparisons such as light-weight design, this invention can improve an acceleration 1-2 order of magnitude of lathe very like a cork.Can expect, adopt the lathe acceleration of screw mechanism can reach 3-10 acceleration of gravity, be very difficult and will reach at present 2 acceleration of gravity.2) can significantly reduce the complex structure degree of gang tool.Adopt differential screw mechanism can save linear motion guide rail, lathe is become without guide rail or few guide rail lathe, can significantly reduce lathe cost like this; 3) can construct brand-new low-cost and high-performance multi-axis NC Machine Tools series.Utilize differential screw mechanism can construct a serial brand-new multi-axis NC Machine Tools, as a differential screw mechanism and a linear motion unit can form circular cylindrical coordinate lathe, two differential screw mechanisms can form novel four-shaft numerically controlled lathe, two differential screw mechanisms can form the five axle blade processing lathes identical with common blade machining tool kinematic chain with a linear motion unit, three differential screw mechanisms can form six Shaft and NC Machining Test lathes, can meet the needs of complex cutting tool grinding etc.
Accompanying drawing explanation
The transmission principle figure of Fig. 1 a differential screw moving cell;
The transmission principle figure of Fig. 1 b differential screw moving cell;
The typical structure of a kind of differential screw moving cell of Fig. 2;
A kind of simply-support differential screw of Fig. 3 workbench;
A kind of simply-support differential screw of Fig. 4 unit head;
A kind of cantilevered differential screw of Fig. 5 workbench;
A kind of cantilevered differential screw of Fig. 6 unit head;
A kind of double differential spiral four axle lathe typical structures of Fig. 7;
A kind of double differential spiral of Fig. 8 five-axis machine tool typical structure.
In figure, each symbolic significance is as follows:
A1 nut left bearing, A2 rotor, A3 motor stator, A4 ball nut, A5(B4) frame, A6 nut right bearing, A7 ball-screw;
B1 spline housing left bearing, B2 rotor, B3 motor stator, B4 frame, B5 spline housing right bearing, B6 rolling spline cover, B7 rolling spline axle;
C leading screw splined shaft, P guide screw lead, W1 nut angular velocity of rotation, W2 spline housing angular velocity of rotation Wc leading screw splined shaft (output shaft) angular velocity of rotation, Vc leading screw splined shaft (output shaft) translational speed.
1 nut rotary unit, 2 spline housing rotary units, 3 and 3 ' and 3 ": leading screw splined shaft (or output shaft), 4 frames (or base);
101 grating reading heads, 102 grating dials, 103 nut unit left end caps, 104 nut left bearings, 105 ball nuts are partly left, 106 motor stators, 107 rotors, 108 ball nuts are partly right, 109 nut unit right end caps, 110 nut right bearings;
201 grating reading heads, 202 grating dials, 203 spline unit right end caps, 204 spline housing right bearings, 205 rolling spline covers are partly right, 206 motor stators, 207 rotors, 208 rolling splines cover left sides half, 209 spline unit left end caps, 210 spline housing left bearings;
T workbench, S main shaft.
01 cantilever spiral unit head, 02 cantilever spiral workbench, 03 base, 04 horizontal rectilinear motion unit.
The angular speed of A ball-screw axle B rolling spline axle W3 leading screw splined shaft.
The specific embodiment
See Fig. 1 a, Fig. 1 b, Fig. 2, a kind of differential screw mechanism of the present invention, it is comprised of nut rotary unit 1, spline housing rotary unit 2, leading screw splined shaft 3 and frame 4; Position annexation between them is: nut rotary unit 1 and spline housing rotary unit 2 are connected in frame 4 two ends, and leading screw splined shaft 3 runs through between nut rotary unit 1 and spline housing rotary unit 2 and between above-mentioned Unit two and turns round.
The exemplary embodiments of a kind of differential screw moving cell of Fig. 2.In figure, ball nut left half 105, rotor 107, ball nut right half 108 is connected by screw as nut rotor assembly, they are supported in respectively on nut unit left end cap 103 and nut unit right end cap 109 by nut left bearing 104 and nut right bearing 110, nut unit left end cap 103 and nut unit right end cap 109 are connected by screw on the housing of this nut rotary unit with motor stator 106, and housing is connected by screw on base 4.Grating reading head 101 is fixed on nut unit left end cap 103, and grating dial 102 is fixed on ball nut left half 105, and they are for measuring the angular displacement of nut rotor assembly.Rolling spline cover right half 205, rotor 207, rolling spline cover left half 208 is connected by screw as spline housing rotor assembly, they are supported in respectively on spline unit right end cap 203 and spline unit left end cap 209 by spline housing right bearing 104 and spline housing left bearing 110, spline unit right end cap 203 and spline unit left end cap 209 are connected by screw on the housing of this spline housing rotary unit with motor stator 206, and housing is connected by screw on base 4.Grating reading head 201 is fixed on spline unit right end cap 203, and grating dial 102 is fixed on rolling spline cover right half 205, and they are for measuring the angular displacement of nut rotor assembly.
When rotor 107 and 207 difference drive nut rotor assembly and the rotation of spline housing rotor assembly, leading screw splined shaft 4 will be exported the rectilinear motion of axis direction simultaneously and around the rotatablely moving of this axis, form the screw unit of exportable given any screw as output shaft.
When spindle motor S is installed in this mechanism, just form a unit head with screw, when workbench T is connected in this mechanism, just formed the workbench with 2 freedoms of motion.The different installation sites on leading screw splined shaft 4 according to workbench and main shaft, can form two kinds of modes of freely-supported and cantilever, Fig. 3 is a kind of simply-support differential screw workbench, Fig. 4 is a kind of simply-support differential screw unit head, Fig. 5 is a kind of cantilevered differential screw workbench, and Fig. 6 is a kind of cantilevered differential screw unit head.
A kind of double differential spiral four axle lathe typical structures of Fig. 7 for adopting the cantilevered differential screw workbench shown in Fig. 5 and the cantilevered differential screw unit head shown in Fig. 6 to form.In Gai mechanism, between main shaft and workbench, can there are two straight line relative motions and two revolutions relative motion, i.e. just in time two screws.Fig. 8 for increasing a kind of double differential spiral five-axis machine tool typical structure of horizontal rectilinear motion unit 4 rear formation in mechanism shown in Fig. 7.In Gai mechanism, between main shaft and workbench, can there are 3 straight line relative motions and two revolution relative motions, just in time by two screws and a rectilinear motion, be formed, can realize five-axle linkage working motion.
Claims (10)
1. a differential screw mechanism, is characterized in that: it is comprised of nut rotary unit (1), spline housing rotary unit (2), leading screw splined shaft (3) and frame (4); Nut rotary unit (1) and spline housing rotary unit (2) are connected in frame (4) two ends, and leading screw splined shaft (3) runs through between nut rotary unit (1) and spline housing rotary unit (2) and between above-mentioned Unit two and turns round;
Described nut rotary unit (1), by grating reading head (101), grating dial (102), nut unit left end cap (103), nut left bearing (104), ball nut left half (105), motor stator (106), rotor (107), ball nut right half (108), nut unit right end cap (109) and nut right bearing (110) form; Ball nut left half (105), rotor (107), ball nut right half (108) is connected by screw as nut rotor assembly, they are supported in respectively on nut unit left end cap (103) and nut unit right end cap (109) by nut left bearing (104) and nut right bearing (110), nut unit left end cap (103) and nut unit right end cap (109) are connected by screw on the housing of this nut rotary unit with motor stator (106), and housing is connected by screw in frame (4); Its effect is driven by servomotor ball nut left half (105) and the right partly ball nut rotation that (108) form of ball nut that utilizes motor stator (106) and rotor (107) to form, this nut drives leading screw splined shaft to axially move because having rotatablely moving of relative leading screw, and the anglec of rotation of nut detects to realize closed-loop control by grating or other angle detection device being comprised of grating reading head (101) and grating dial (102); This grating reading head is one of part of grating, and for reading the position data of grating dial, it is common and one of grating dial formation is whole as revolution grating standard component; This grating dial is the graduation apparatus of revolution grating, is carved with striped on it, and its current location utilizes principle of interference by grating reading head, to be read and pass to digital control system; This nut unit left end cap and right end cap are for being fixed on motor stator in frame and providing installing space for fixed grating read head with for nut bearing; This nut left bearing and right bearing are for support motor stator and ball nut; A ball nut of the common composition of this ball nut the left half and the right half, they are installed together conventionally for eliminating gap, also can be installed on the two ends of rotor for improving the bearing length of nut, but exist the temperature impact of rotor to need fully cooling; This motor stator and rotor form servomotor, and normally the stator of torque motor and rotor form, and if desired rotor are replaced with to gear or profile of tooth belt wheel, and its gyration sends this gear or profile of tooth belt wheel to by outside servomotor;
Described spline housing rotary unit (2), be by grating reading head (201), grating dial (202), spline unit right end cap (203), spline housing right bearing (204), rolling spline cover right half (205), motor stator (206), rotor (207), rolling spline cover left half (208), spline unit left end cap (209) and spline housing left bearing (21) form; Rolling spline cover right half (205), rotor (207), rolling spline cover left half (208) is connected by screw as spline housing rotor assembly, they are supported in respectively on spline unit right end cap (203) and spline unit left end cap (209) by spline housing right bearing (104) and spline housing left bearing (110), spline unit right end cap (203) and spline unit left end cap (209) are connected by screw on the housing of this spline housing rotary unit with motor stator (206), and housing is connected by screw in frame (4); It is upper that grating reading head (201) is fixed on spline unit right end cap (203), and it is upper that grating dial (102) is fixed on rolling spline cover right half (205), and they are for measuring the angular displacement of spline housing rotor assembly; Its effect is the driven by servomotor spline housing rotor assembly rotation that utilizes motor stator (206) and rotor (207) to form, this spline housing rotor assembly drives leading screw splined shaft to do synchronized gyration by spline, and the anglec of rotation of spline housing rotor assembly detects to realize closed-loop control by grating or other angle detection device being comprised of grating reading head (201) and grating dial (202); This grating reading head is one of part of grating, and for reading the position data of grating dial, it is common and one of grating dial formation is whole as revolution grating standard component; This grating dial is the graduation apparatus of revolution grating, is carved with striped on it, and its current location utilizes principle of interference by grating reading head, to be read and pass to digital control system; This spline housing rotor assembly unit left end cap and right end cap are for being fixed on motor stator in frame and providing installing space for fixed grating read head with for spline housing bearing; This spline housing left bearing and right bearing are for support motor stator and rolling spline; This rolling spline the left half and the right half is common forms a rolling spline cover, and they only realize same function with one, adopt two to improve support stiffness simultaneously, only adopt the two one of time another part inside retain large circular hole; This motor stator and rotor form servomotor, and normally the stator of torque motor and rotor form, and if desired rotor are replaced with to gear or profile of tooth belt wheel, and its gyration sends this gear or profile of tooth belt wheel to by outside servomotor;
A part for described leading screw splined shaft (3) is ball-screw, and another part is rolling spline, respectively with ball nut and rolling spline engagement;
Described frame (4) is by the box hardware welding or casting technique is made, the matrix of Ta Shigai mechanism, and other Unit three interconnects with it.
2. a kind of differential screw mechanism according to claim 1, it is characterized in that: leading screw splined shaft is by ball nut-spline housing, ball nut-splined shaft, leading screw-spline housing, four kinds of schemes of leading screw-splined shaft form, can construct abundant screw mechanism structure, described concrete mechanism and structure convert out various structures form according to the requirement of topological invariance and mechanism's equivalence and intensity and toughness, as single nut mode, single spline housing mode.
3. a kind of differential screw mechanism according to claim 1, it is characterized in that: wherein, when spindle motor being installed in this mechanism, just form a unit head with screw, when workbench being connected in this mechanism, just formed the workbench with 2 freedoms of motion; Two different installation sites such as the middle part according to workbench and main shaft on leading screw splined shaft or end, form freely-supported and two kinds of frame modes of cantilever, be simply-support differential screw workbench, simply-support differential screw unit head, cantilevered differential screw workbench and cantilevered differential screw unit head.
4. a kind of differential screw mechanism according to claim 1, is characterized in that: adopt a cantilevered differential screw workbench and a cantilevered differential screw unit head to form the four-shaft numerically controlled lathe of a kind of double differential spiral.
5. a kind of differential screw mechanism according to claim 1, is characterized in that: after adopting two differential screw moving cells and a horizontal rectilinear motion unit, form a kind of double differential spiral five-axle number control machine tool.
6. a kind of differential screw mechanism according to claim 1, it is characterized in that: rolling spline adopts another ball nut different from previous nut Guide journey to replace, form the differential screw moving cell with two ball nut-guide screw movement pairs, for simplifying lathe pre-pressing structure.
7. a kind of differential screw mechanism according to claim 1, it is characterized in that: its centre of gyration servomotor concentric with output leading screw splined shaft wherein forming with motor stator (106) and rotor (107) or motor stator (206) and rotor (207) adopts one with to export leading screw splined shaft parallel but have the common servomotor of certain distance and one group of gear driving pair or one group of cog belt transmission and combine, one of them driven toothed belt wheel or driven gear instead of electr ic motor rotor are fixed on current position, on the output shaft that active profile of tooth belt wheel wherein or driving gear are installed on common servomotor.
8. a kind of differential screw mechanism according to claim 1, it is characterized in that: after the stator and rotor of the common servomotor with eccentric and one group of gear driving pair or the concentric servomotor of one group of cog belt transmission combination replacement, the described grating being comprised of grating reading head (101) and grating dial (102) or other angle detection device and the grating being comprised of grating reading head (201) and grating dial (202) or other angle detection device can be cancelled when realizing open loop control.
9. a kind of differential screw mechanism according to claim 1, is characterized in that: described ball-screw-ball nut kinematic pair adopts lead screw-nut kinematic pair to replace when required precision is not high.
10. a kind of differential screw mechanism according to claim 1, is characterized in that: described rolling spline-rolling spline cover kinematic pair adopts one group to be installed on a line slideway on housing-substitute, and can significantly increase torsional rigidity.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310737514.0A CN103722432B (en) | 2013-12-26 | 2013-12-26 | A kind of differential screw mechanism and the gang tool based on differential screw mechanism |
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| CN201310737514.0A CN103722432B (en) | 2013-12-26 | 2013-12-26 | A kind of differential screw mechanism and the gang tool based on differential screw mechanism |
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| CN103722432B CN103722432B (en) | 2016-06-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103934692A (en) * | 2014-04-29 | 2014-07-23 | 黄河科技学院 | Threaded hole drilling and tapping machine |
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| GB985016A (en) * | 1963-04-01 | 1965-03-03 | Cincinnati Milling Machine Co | Motion transmitting mechanism |
| CN2072882U (en) * | 1989-10-24 | 1991-03-13 | 高庆和 | Differential transmission sliding table with lead screw and nut |
| CN101357441A (en) * | 2008-08-16 | 2009-02-04 | 应城市华兴机床有限公司 | Fluid-pressure driven differential feeding system |
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2013
- 2013-12-26 CN CN201310737514.0A patent/CN103722432B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB985016A (en) * | 1963-04-01 | 1965-03-03 | Cincinnati Milling Machine Co | Motion transmitting mechanism |
| CN2072882U (en) * | 1989-10-24 | 1991-03-13 | 高庆和 | Differential transmission sliding table with lead screw and nut |
| CN101357441A (en) * | 2008-08-16 | 2009-02-04 | 应城市华兴机床有限公司 | Fluid-pressure driven differential feeding system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103934692A (en) * | 2014-04-29 | 2014-07-23 | 黄河科技学院 | Threaded hole drilling and tapping machine |
| CN103934692B (en) * | 2014-04-29 | 2016-04-13 | 黄河科技学院 | Screwed hole drilling tapping machine |
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| Publication number | Publication date |
|---|---|
| CN103722432B (en) | 2016-06-22 |
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