CN104553558A - Carving machine with series-parallel structure - Google Patents

Abstract

A hybrid structure engraving machine belongs to the technical field. It includes a serial truss and a parallel processing head, the serial truss is a two-way movable gantry structure that moves along the X and Y axes, the parallel processing head has three degrees of freedom and is suspended on the movable gantry structure , the two-way movable gantry structure includes a gantry frame, a concave base, a horizontal X-axis moving device and a horizontal Y-axis moving device, the gantry frame is connected to the concave base through a horizontal X-axis moving device, and the parallel processing head passes through a horizontal Y-axis The mobile unit is suspended from the longitudinal beams of the gantry frame. The invention has five degrees of freedom, can realize three-translation and two-rotation movements, and is convenient for pentahedron processing under the condition of secondary clamping. The invention can complete the engraving processing of multi-angles and complex curved surfaces at one time, which can not only improve the processing quality, but also improve the production efficiency and reduce the processing time.

Description

Hybrid structure engraving machine

technical field

The invention belongs to the technical field of engraving machines, and in particular relates to an engraving machine with a hybrid structure. A new type of equipment for three-dimensional engraving and processing of decorative materials such as wood and stone.

Background technique

The processing heads of the existing engraving machine tools are all serial structures, which can only translate along the three coordinate directions of X, Y, and Z, and cannot realize rotation around the two coordinate axes, which will make complex three-dimensional surface processing difficult. The difficulty increases, and there will be multiple clamping, which wastes processing time.

Most of the existing engraving machine tools can only be used for plane processing, and seldom can be used for three-dimensional processing. Even if there are, the rotating shaft fixture is installed on the processing table, and the movement coordination between the processing head and the fixture turntable is not suitable for realization. Moreover, most of the rotating shaft fixtures have only one rotational degree of freedom and cannot realize two-way rotation.

The tandem configuration has the advantages of simple structure, low cost, simple control, and large movement space, and has been successfully applied in many fields, such as various machine tools, assembly workshops, etc. Compared with the series connection, the research on the parallel configuration started late. Because the parallel configuration has the advantages of high precision, high rigidity, strong bearing capacity, and small inertia of the end parts, it has obvious advantages in high-speed and large-load-carrying occasions.

Now, parallel mechanisms have been used in flight simulators, CNC machine tools, etc., but they are rarely used in engraving. At present, there are few reports on the research on the device that adopts parallel mechanism to realize engraving processing at home and abroad. So far, there is no engraving machine tool equipped with parallel mechanism for wood and stone processing.

Contents of the invention

In view of the above technical problems, the present invention provides a hybrid structure engraving machine. It can realize five-axis linkage processing, reduce the number of clamping and save working hours; improve processing quality, processing accuracy and processing speed; complete three-dimensional engraving and processing of decorative products with the advantages of high quality and high efficiency.

The purpose of the present invention is achieved through the following technical solutions:

The present invention includes a serial truss and a parallel processing head, the serial truss is a two-way movable gantry structure that moves along the X and Y axes, the parallel processing head has three degrees of freedom, and is suspended on the movable gantry Structurally, the two-way movable gantry structure includes a gantry frame, a concave base, a horizontal X-axis moving device, and a horizontal Y-axis moving device. The gantry frame is connected to the concave base through a horizontal X-axis moving device, and the parallel processing heads pass through The Y-axis mobile device is suspended on the longitudinal beam of the gantry frame.

Further, the horizontal X-axis moving device includes a cooperating gear, two racks, and a servo motor connected to the drive gear respectively provided on the two frames connected to the concave base and the gantry frame, and the servo motors on both sides are synchronously driven and controlled.

Further, the horizontal Y-axis moving device includes a ball screw installed on the longitudinal beam, a screw nut, a slide rail, a connecting slider and a first motor, the first motor is connected to the ball screw, and the The nut is fixed on the connecting slide block, and the connecting slide block slides in cooperation with the slide rail installed on the side of the longitudinal beam, and the other end is connected with the parallel processing head.

Further, the parallel processing head includes a dynamic platform, a static platform, an electric spindle cutting tool, three active chains and a restraint chain. The restraint chain is a telescopic rod structure, one end of which is connected to the static platform through a Hooke hinge, and the other end Fixedly connected to the moving platform through a sleeve device; the three active chains have the same structure and are arranged along the circumference of the constraint chain. They are all telescopic rods, one end of which is connected to the static platform through a Hooke hinge, and the other end is connected to the moving platform through a ball hinge; each The active chain has its own servo motor, and the servo motor drives the telescopic rod to rotate and extend or shorten. The electric spindle cutting tool is connected to the lower end of the restraint chain under the moving platform. The restraint chain is perpendicular to the moving platform, and the axis of the electric spindle coincides with the axis of the restraint chain.

Further, the active chain telescopic rod is composed of two inner and outer sleeves, which are connected by a sliding pair, specifically including a Hooke joint, a coupling shaft, a telescopic outer sleeve I, a keyway telescopic inner sleeve, a telescopic outer sleeve II, a lead screw, Locate the end cover, coupling, and servo motor. The servo motor is connected to one end of the screw through the coupling, and the other end of the screw is fixed with a sliding key sleeve, which slides along the inner wall of the telescopic inner sleeve; the nut matched with the screw is connected to the telescopic One end of the inner sleeve, one end of the telescopic inner sleeve is fixedly connected with the telescopic outer sleeve I, the other end of the telescopic outer sleeve I is connected to the Hooke joint through the connecting shaft, one end of the telescopic outer sleeve II is connected to the telescopic outer sleeve I, and the other end is connected to the wire through the positioning end cap on the bar near the coupling end.

Further, a sealing baffle is provided at the connecting end of the telescopic casing II and the telescopic casing I.

Further, the telescopic outer casing I is connected to the telescopic inner casing through a retaining ring.

Further, the telescopic rod of the restraint chain includes a telescopic sleeve of the restraint chain, a connecting rod, a flat guide key and a long nut, one end of the connecting rod is placed in the telescopic sleeve of the restraint chain, and the other end is connected to the moving platform through a ball hinge, and the telescopic sleeve The upper part is connected with a long nut, and the connecting rod has an external thread that matches the long nut. The connecting rod in the telescopic sleeve is symmetrically provided with guiding flat keys, and the end of the telescopic sleeve is fixed to the static platform through the Hooke hinge of the static platform; The static platform is connected with the servo motor through a coupling.

Further, the telescopic sleeve is installed on the static platform Hooke hinge through a pair of angular contact ball bearings.

The beneficial effects of the present invention are:

1. The present invention uses a hybrid structure as the main body of the engraving machine, which is specifically composed of two parts: a serial truss and a parallel processing head. The serial truss adopts a two-way movable gantry structure, which can move along the X and Y axes; the processing head A three-degree-of-freedom parallel mechanism with constrained chains is adopted, and the parallel device can realize translation along the Z-axis direction and rotation along the X-axis and Y-axis directions. The hybrid engraving machine has five degrees of freedom, which can realize three translations and two rotations, which is convenient for pentahedron processing under the condition of one clamping.

2. The invention not only retains the stability of the linear guide rail movement of the traditional engraving machine, but also increases the advantages of parallel robots such as high efficiency, flexibility, high precision, and high rigidity. It can complete the engraving processing of multi-angle and complex curved surfaces at one time. It can improve the processing quality, ensure the consistency of decorative effects of stone, wood and other handicrafts, improve production efficiency and reduce processing time.

3. The present invention adopts the structure combining series truss and parallel working head, which changes the single structural form of the original engraving machine. The equipment can realize three translation degrees of freedom and two rotation degrees of freedom, and can realize five-axis linkage Processing, not only retains the advantages of large working space of the series configuration, but also improves the flexibility of the processing head, improves the processing accuracy, structural rigidity and speed of the whole machine, and has the advantages of convenient control, small inertial force, and high processing quality. It can change the processing limitations of traditional engraving machines.

Description of drawings

Fig. 1 is a three-dimensional model diagram of the present invention.

Fig. 2 is a three-dimensional view of the parallel working heads in Fig. 1 .

Fig. 3 is an assembly diagram of the active chain and the hinge in Fig. 2 .

Fig. 4 is a schematic cross-sectional view of the active chain telescopic rod in Fig. 3 .

Fig. 5 is a schematic cross-sectional view of the restraint chain structure in Fig. 3 .

In the figure: 1. Parallel working head; 2. Series truss; 21. Gantry frame, 22. Concave base, 23. Horizontal Y-axis moving device, 231. Rack, 24. Horizontal X-axis moving device, 241. First Motor, 242. Ball screw, 243. Slide rail, 244. Slide block, 245. Screw nut, 246. Longitudinal beam, 3. Static platform; 31. Static platform Hooke hinge; 4. Fixed sleeve; 5. Constraint chain , 51. Constraint chain expansion sleeve, 52. Connecting rod, 53. Long nut, 54. Ball hinge, 55. Guide flat key; 6. Moving platform; 61. Moving platform Hooke hinge; 7. Electric spindle cutting tool; 8 .Active chain telescopic rod; 801. Hooke joint; 802. Coupling shaft; 803. Telescopic jacket Ⅰ; 804. Seal baffle; 805. Telescopic inner sleeve; 806. Telescopic jacket Ⅱ; Washer; 809. Positioning end cover; 810. Coupling; 811. Servo motor; 812. Lock nut; 813. Shaft sleeve; 814. Bearing end cover; 815. Angular contact ball bearing; 816. Nut; Key cover, 818. Retaining ring.

Detailed ways

The present invention will be described in further detail below through the embodiments and accompanying drawings.

Embodiment: As shown in Figure 1, the present invention includes a serial truss 2 and a parallel processing head 1, the serial truss 2 is a two-way movable gantry structure that moves along the X and Y axes, and the parallel processing head 1 has Three degrees of freedom, suspended on the movable gantry structure, the two-way movable gantry structure includes a gantry frame 21, a concave base 22, a horizontal X-axis moving device 24 and a horizontal Y-axis moving device 23, the gantry frame 21 is connected to the concave base 22 through a horizontal X-axis moving device, and the parallel processing head 1 is suspended on the longitudinal beam 23 of the gantry frame 21 through a horizontal Y-axis moving device.

The horizontal X-axis moving device 23 includes gears for cooperating transmission, two racks 231 and servo motors connected to the drive gears respectively provided on the two frames connected between the concave base 22 and the gantry frame 21, and the servo motors on both sides are synchronously driven and controlled.

The horizontal Y-axis moving device 24 includes a ball screw 242, a screw nut 245, a slide rail 243, a connecting slider 245 and a first motor 241 installed on the longitudinal beam 246 of the gantry frame, and the first motor 241 is connected to the ball screw. The bar 242 and the screw nut 245 that cooperates with the leading screw 242 are fixed on the connecting slider 244, and the connecting slider 244 slides with the slide rail 243 installed on the longitudinal beam 246 side, and the other end is connected with the parallel processing head 1.

As shown in Figures 2 and 3, the parallel processing head 1 includes a dynamic platform 6, a static platform 3, an electric spindle cutting tool 7, three active chains 5 and a restraint chain 5, the restraint chain 5 is a telescopic rod structure, One end of it is connected to the static platform 3 through the Hooke hinge 31 of the static platform, and the other end is fixedly connected to the moving platform 6 through a sleeve device; One end is connected to the static platform 3 through the Hooke hinge 31 of the static platform, and the other end is connected to the dynamic platform 6 through a ball hinge; each active chain 8 has its own servo motor, and the servo motor drives the telescopic rod to rotate and extend or shorten, constraining The electric spindle cutting tool 7 is installed under the moving platform 6 at the lower end of the chain 5 through a fixed sleeve. The direction of the constraint chain 4 is always perpendicular to the direction of the moving platform 6, and the axis of the electric spindle cutting tool 7 coincides with the axis of the constraint chain 5. The constraint chain 5 plays a role in constraining the translation of the parallel mechanism along X, Y and rotation around the Z axis.

As shown in Figure 4, the active chain telescopic rod 8 is composed of two inner and outer sleeves, which are connected by a sliding pair, specifically including a Hooke joint 801, a coupling shaft 802, a telescopic outer sleeve I 803, a telescopic inner sleeve 805, a telescopic Jacket II 806, lead screw 807, positioning end cover 809, coupling 810, servo motor 811, the servo motor 811 is connected to one end of the lead screw 807 through the coupling 810, the other end of the lead screw 807 is fixed with a sliding key sleeve 817, along The inner wall of the telescopic inner sleeve 805 slides; the nut 16 matched with the lead screw 807 is connected to one end of the telescopic inner sleeve 805, the telescopic inner sleeve 805 is fixedly connected to one end of the telescopic outer sleeve I 803, and the other end of the telescopic outer sleeve I 803 is connected to the Hooker through the coupling shaft 802 One end of the joint 801 and the telescopic jacket II 806 is connected to the telescopic jacket I 803, and the other end is connected to the lead screw 807 close to the coupling 802 through the positioning end cap 809.

A sealing baffle 4 is provided at the connecting end of the telescopic jacket II 806 and the telescopic jacket I 803 .

The telescopic outer casing I 803 is connected to the telescopic inner casing 805 through a retaining ring 818 .

As shown in Figure 5, the telescopic rod 5 of the restraint chain includes a telescopic sleeve 51 of the restraint chain, a connecting rod 52, a guide flat key 55 and a long nut 53, one end of the connecting rod 52 is placed in the telescopic sleeve 51 of the restraint chain, and the other end Connected with the moving platform 6 through a ball hinge 54, the telescopic sleeve 51 is connected with a long nut 53, and the connecting rod 52 has an external thread that matches the long nut 53. The key 55, the end of the restraining chain telescopic sleeve 51 is fixed on the static platform 3 through the Hooke hinge 31 of the static platform; and this end extends out of the static platform 3, and is connected with the servo motor through a coupling.

The restraint chain telescopic sleeve 51 is installed on the static platform Hooke hinge 31 through a pair of angular contact ball bearings, and the connecting rod 52 end cooperates with the connected guide flat key, so that the lower end of the connecting rod 52 floats in the restraint chain telescopic sleeve 51 The support is free to slide to realize the conversion of the rotary motion into the linear motion, so as to ensure that the parallel mechanism cannot realize mutual rotation around the restraint chain 5 .

Working principle of the present invention:

As shown in Figure 1, each active chain 8 has its own servo motor, the servo motor drives the lead screw 807 in the telescopic rod to rotate, and the nut 816 that matches it rotates, and the rotational motion is converted into linear expansion and contraction through the thread pairs of the two. sports. When one or two driving chains 8 are elongated, and the other two or one driving chain 8 are shortened, the left-right or front-back swing of the moving platform can be realized, thereby driving the left-right or front-back swing of the electric spindle cutting tool 7; When the three driving chains 8 are extended or shortened at the same time and at the same distance, the moving platform can move in translation along the direction of the restraint chain 5, thereby driving the electric spindle cutting tool 7 to move up and down.

Claims (9)

1. a series parallel type structure engraving machine, it is characterized in that: comprise tandem truss and processing head in parallel, described tandem truss is for realizing along X, the two-way removable gantry structure of Y-axis movement, described processing head in parallel has three degree of freedom, be suspended on described removable gantry structure, described two-way removable gantry structure comprises gantry frame, matrix base, horizontal X shaft moving device and horizontal Y-axis mobile device, described gantry frame is connected on matrix base by horizontal X shaft moving device, processing head in parallel is suspended on gantry frame longeron by horizontal Y-axis mobile device.

2. series parallel type structure engraving machine according to claim 1, it is characterized in that: described horizontal X shaft moving device comprises the gear of the cooperation transmission that two frames that matrix base is connected with gantry frame are respectively equipped with, two tooth bars and connects the servomotor of driven wheel, the synchronous drived control of both sides servomotor.

3. series parallel type structure engraving machine according to claim 1, it is characterized in that: described horizontal Y-axis mobile device comprises the ball-screw be arranged on longeron, screw, slide rail, connection sliding block and the first motor, described first motor connects ball-screw, the screw coordinated with leading screw is fixed on connection sliding block, described connection sliding block coordinates with the slide rail that stringer sides is installed and slides, and the other end connects processing head in parallel.

4. series parallel type structure engraving machine according to claim 1, it is characterized in that: described processing head in parallel comprises moving platform, silent flatform, electro spindle cutting tool, three drive chains and a constraint chain, described constraint chain is Telescopic rod structure, its one end is connected with silent flatform by Hooke's hinge, and the other end is fixed on moving platform by sleeve arrangement; Article three, drive chain structure is identical, along constraint chain circumference, is expansion link, and its one end is connected with silent flatform by Hooke's hinge, and the other end is connected with moving platform by spherical hinge; With respective servomotor on each drive chain, driven by servomotor expansion link rotates and elongates or shortens, and connect electro spindle cutting tool below the moving platform of constraint chain lower end, constraint chain is vertical with moving platform, electro spindle axis and constraint chain dead in line.

5. series parallel type structure engraving machine according to claim 1, it is characterized in that: described drive chain expansion link is made up of inside and outside two sleeves, connected by the secondary mode of slippage, specifically comprise Hooke coupling head, coupling spindle, flexible overcoat I, keyway telescopic inner sleeve, flexible overcoat II, leading screw, positioning end cover, shaft coupling, servomotor, described servomotor connects leading screw one end by shaft coupling, the leading screw other end is fixed with slide key cover, slides along telescopic inner sleeve inwall; The nut coordinated with leading screw is connected to one end of telescopic inner sleeve, telescopic inner sleeve and flexible overcoat I one end connect firmly, its flexible overcoat I other end connects Hooke coupling head by coupling spindle, flexible overcoat II one end is connected on flexible overcoat I, and the other end is connected on leading screw near shaft coupling end by positioning end cover.

6. series parallel type structure engraving machine according to claim 5, is characterized in that: described flexible overcoat II is provided with sealing baffle with flexible overcoat I link.

7. series parallel type structure engraving machine according to claim 5, is characterized in that: described flexible overcoat I is connected by back-up ring with between telescopic inner sleeve.

8. series parallel type structure engraving machine according to claim 1, it is characterized in that: described constraint chain expansion link comprises constraint chain telescopic, connecting rod, dive key and long nut, described connecting rod one end is placed in constraint chain telescopic, the other end is connected with moving platform by spherical hinge, telescopic connects long nut, with the external screw thread coordinated with long nut on connecting rod, the connecting rod in telescopic is arranged with dive key, telescopic end is consolidated in silent flatform by silent flatform Hooke's hinge; And this end stretches out silent flatform, be connected by shaft coupling and servomotor.

9. series parallel type structure engraving machine according to claim 8, is characterized in that: described telescopic is arranged on silent flatform Hooke's hinge by pair of horns contact ball bearing.