CN105598478B - A kind of high-precision numerical control machine parallel main shaft head - Google Patents
A kind of high-precision numerical control machine parallel main shaft head Download PDFInfo
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- CN105598478B CN105598478B CN201610171775.4A CN201610171775A CN105598478B CN 105598478 B CN105598478 B CN 105598478B CN 201610171775 A CN201610171775 A CN 201610171775A CN 105598478 B CN105598478 B CN 105598478B
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Abstract
A kind of high-precision numerical control machine parallel main shaft head, mainly include rack, moving platform, connection frame, moving platform four movement branched chains.Every movement branched chain is made of lower link, middle connecting rod and upper connecting rod, upper connecting rod is connect with rack by revolute pair or ball pair, upper connecting rod, middle connecting rod are connected by revolute pair or ball pair, middle connecting rod, lower link are connected by revolute pair or ball pair, and lower link is connect with moving platform by revolute pair or ball pair；It is connected with each other by four coupled links and a center rod between four movement branched chains, coupled links one end is connected firmly with the middle connecting rod in movement branched chain, and the other end is connect with center rod by revolute pair.The Three Degree Of Freedom rotation of machine output shaft can be achieved in the present invention, has many advantages, such as that rotation work space is big, limit working ability is strong, can be widely applied in spindle head of lathe.
Description
Technical field
The invention belongs to numerical control machine tool technique field, more particularly to a kind of high-precision numerical control machine parallel main shaft head.
Background technology
5-shaft linkage numerical control lathe is that one kind is high in technological content, precision is high, dedicated for processing complex-curved lathe, and
Its critical component main tapping flexibility ratio complex-curved to machine tooling and accuracy have important decisive action.Compared to tradition
Cascade main tapping, the main tapping of parallel form have rigidity it is high, it is compact-sized, without accumulated error, moving component matter
Amount is light, has many advantages, such as higher dynamic response characteristic, becomes the hot spot studied both at home and abroad.Such as Germany DS
The Three Degree Of Freedom Sprint Z3 parallel main shaft heads that Technologie companies are researched and developed based on 3-PRS mechanisms, be applied successfully in
The processing of complex space curved surfaces part.However, existing parallel main shaft head configuration is less, and the work of published parallel main shaft head
Make that space is generally smaller, seriously limits the limit working ability of main tapping, be unfavorable for parallel main shaft head in numerically-controlled machine tool
Further development.
Invention content
To solve the above problems, the present invention provides a kind of high-precision numerical control machine parallel main shaft head, it can be achieved that lathe exports
The Three Degree Of Freedom of axis rotates, and has many advantages, such as that rotation work space is big, limit working ability is strong.
Technical scheme of the present invention is specific as follows：
The invention mainly comprises rack, four movement branched chains of moving platform, connection frame, moving platform, and there are two types of connections
Mode：
The first connection type：Every movement branched chain is made of lower link, middle connecting rod and upper connecting rod, the first movement branched chain
One end lower link A in A is connect with moving platform by the first ball secondary A, and the lower link A other ends pass through second with the one end middle connecting rod A
Revolute pair A connections, the middle connecting rod A other ends are connect with the one end upper connecting rod A by third revolute pair A, the upper connecting rod A other ends and rack
Pass through the 4th ball secondary A connections；One end lower link B in second movement branched chain B is connect with moving platform by the first revolute pair B, under
The connecting rod B other ends are connect with the one end middle connecting rod B by the second ball secondary B, and the middle connecting rod B other ends pass through third with the one end upper connecting rod B
Revolute pair B connections, the upper connecting rod B other ends are connect with rack by the 4th revolute pair B；Lower link C mono- in third movement branched chain C
End is connect with moving platform by the first revolute pair C, and the lower link C other ends are connect with the one end middle connecting rod C by the second ball secondary C, in
The connecting rod C other ends are connect with the one end upper connecting rod C by third revolute pair C, and the upper connecting rod C other ends pass through the 4th revolute pair with rack
C connections；One end lower link D in 4th movement branched chain D is connect with moving platform by the first ball secondary D, and the lower link D other ends are in
The one end connecting rod D is connect with the one end upper connecting rod D by third revolute pair D by the second revolute pair D connections, the middle connecting rod D other ends, on
The connecting rod D other ends are connect with rack by the 4th ball secondary D.
It is connected with each other by four coupled links and a center rod between four movement branched chains, every movement branch
It is connected by a coupled links between chain and center rod, coupled links one end is connected firmly with the middle connecting rod in movement branched chain, coupling
The connecting rod other end is closed to connect by revolute pair with center rod, four revolute pairs that four coupled links are connect with center rod
Axis overlaps to form an axis, if axis L centered on this axis；The second revolute pair A axis, the first revolute pair
B axle line, the first revolute pair C axis, the second revolute pair D axis, central axis L intersect at a point G；The third revolute pair A axis
Line, third revolute pair B axle line, the 4th revolute pair B axle line, third revolute pair C axis, the 4th revolute pair C axis, third revolute pair
D axis, central axis L intersect at point a K, point K and the point G is misaligned.
One end of the center rod is connect by the first universal hinge with machine output shaft, and in the rotation of the first universal hinge
The heart is overlapped with the point G；The other end of center rod is by the second universal hinge and the output axis connection of spindle motor, and the 20000th
It is overlapped to the center of rotation of hinge with the point K.Moving platform bearing, moving platform axis are equipped between the machine output shaft and moving platform
The inner ring held is connected firmly with machine output shaft, and outer shroud and the moving platform of moving platform bearing connect firmly.The spindle motor is connected firmly with rack,
Rack bearing is equipped between the output shaft and rack of spindle motor, the inner ring of rack bearing and the output shaft of spindle motor connect firmly,
The outer shroud of rack bearing is connected firmly with rack.
Upper connecting rod B in second movement branched chain is connect by the 6th revolute pair B with one end of moving leader B, mobile
The other end of guide rod B is connect by the 7th revolute pair B with slide block B, and slide block B is connect with rack by prismatic pair B, and prismatic pair B
Secondary for driving, the 4th revolute pair B axle line, the 6th revolute pair B axle line, the 7th revolute pair B axle line are mutually parallel, prismatic pair B
The direction of motion it is vertical with the 4th revolute pair B axle line；Upper connecting rod C in the third movement branched chain by the 6th revolute pair C with
One end of moving leader C connects, and the other end of moving leader C is connect by the 7th revolute pair C with sliding block C, and sliding block C is logical with rack
Prismatic pair C connections are crossed, and prismatic pair C is that driving is secondary, the 4th revolute pair C axis, the 6th revolute pair C axis, the 7th rotation
Secondary C axis are mutually parallel, and the direction of motion of prismatic pair C is vertical with the 4th revolute pair C axis.
Second of connection type：Every movement branched chain is made of lower link, middle connecting rod and upper connecting rod, the first movement branched chain
One end lower link A in A is connect with moving platform by the first ball secondary A, and the lower link A other ends pass through second with the one end middle connecting rod A
Revolute pair A connections, the middle connecting rod A other ends are connect with the one end upper connecting rod A by third ball secondary A, and the upper connecting rod A other ends are logical with rack
Cross the 4th revolute pair A connections；One end lower link B in second movement branched chain B is connect with moving platform by the first revolute pair B, under
The connecting rod B other ends are connect with the one end middle connecting rod B by the second ball secondary B, and the middle connecting rod B other ends pass through third with the one end upper connecting rod B
Revolute pair B connections, the upper connecting rod B other ends are connect with rack by the 4th revolute pair B；Lower link C mono- in third movement branched chain C
End is connect with moving platform by the first revolute pair C, and the lower link C other ends are connect with the one end middle connecting rod C by the second ball secondary C, in
The connecting rod C other ends are connect with the one end upper connecting rod C by third revolute pair C, and the upper connecting rod C other ends pass through the 4th revolute pair with rack
C connections；One end lower link D in 4th movement branched chain D is connect with moving platform by the first ball secondary D, and the lower link D other ends are in
The one end connecting rod D is connect with the one end upper connecting rod D by third ball secondary D by the second revolute pair D connections, the middle connecting rod D other ends, upper company
The bar D other ends are connect with rack by the 4th revolute pair D.
It is connected with each other by four coupled links and a center rod between four movement branched chains, every movement branch
It is connected by a coupled links between chain and center rod, coupled links one end is connected firmly with the middle connecting rod in movement branched chain, coupling
The connecting rod other end is closed to connect by revolute pair with center rod, four revolute pairs that four coupled links are connect with center rod
Axis overlaps to form an axis, if axis L centered on this axis；The second revolute pair A axis, the first revolute pair
B axle line, the first revolute pair C axis, the second revolute pair D axis, central axis L intersect at a point G；The 4th revolute pair A axis
Line, third revolute pair B axle line, the 4th revolute pair B axle line, third revolute pair C axis, the 4th revolute pair C axis, the 4th revolute pair
D axis, central axis L intersect at point a K, point K and the point G is misaligned.
One end of the center rod is connect by the first universal hinge with machine output shaft, and in the rotation of the first universal hinge
The heart is overlapped with the point G；The other end of center rod is by the second universal hinge and the output axis connection of spindle motor, and the 20000th
It is overlapped to the center of rotation of hinge with the point K.Moving platform bearing, moving platform axis are equipped between the machine output shaft and moving platform
The inner ring held is connected firmly with machine output shaft, and outer shroud and the moving platform of moving platform bearing connect firmly.The spindle motor is connected firmly with rack,
Rack bearing is equipped between the output shaft and rack of spindle motor, the inner ring of rack bearing and the output shaft of spindle motor connect firmly,
The outer shroud of rack bearing is connected firmly with rack.
Upper connecting rod B in second movement branched chain is connect by the 6th revolute pair B with one end of moving leader B, mobile
The other end of guide rod B is connect by the 7th revolute pair B with slide block B, and slide block B is connect with rack by prismatic pair B, and prismatic pair B
Secondary for driving, the 4th revolute pair B axle line, the 6th revolute pair B axle line, the 7th revolute pair B axle line are mutually parallel, prismatic pair B
The direction of motion it is vertical with the 4th revolute pair B axle line；Upper connecting rod C in the third movement branched chain by the 6th revolute pair C with
One end of moving leader C connects, and the other end of moving leader C is connect by the 7th revolute pair C with sliding block C, and sliding block C is logical with rack
Prismatic pair C connections are crossed, and prismatic pair C is that driving is secondary, the 4th revolute pair C axis, the 6th revolute pair C axis, the 7th rotation
Secondary C axis are mutually parallel, and the direction of motion of prismatic pair C is vertical with the 4th revolute pair C axis.
The present invention has the following advantages that compared with prior art：
(1) machine output shaft is big with respect to the rotation work space of rack so that spindle head of lathe has higher flexibility
And adaptability, enhance the limit working ability of lathe；(2) the three degree of freedom mobile decoupling of machine output shaft is convenient for lathe
Kinematics controls；(3) spindle motor is placed in rack, by double universal hinge transmission driving machine output shafts, alleviates movement portion
The quality of part improves the responding ability of main tapping；(4) it intercouples, improves between four movement branched chains in main tapping
Overall structure mechanical property is applicable in high speed, heavy machine tool main tapping technical field.
Description of the drawings
Fig. 1 is 1 stereoscopic schematic diagram of the embodiment of the present invention
Fig. 2 is 1 stereoscopic schematic diagram of the embodiment of the present invention
Fig. 3 is 2 stereoscopic schematic diagram of the embodiment of the present invention
Fig. 4 is 2 stereoscopic schematic diagram of the embodiment of the present invention
Fig. 5 is partial structurtes simplified schematic diagram of embodiment of the present invention
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and examples, and in all embodiments, the Rij indicates one
A revolute pair, Sij indicate a ball pair, and wherein i, j are natural number.
Embodiment 1
It is the 1st embodiment disclosed by the invention, a kind of high-precision numerical control machine parallel connection master as shown in Figure 1, Figure 2 and shown in Fig. 5
Spindle nose, main four movement branched chains including moving platform 1, rack 2, connection moving platform 1, rack 2, four movement branched chains it is specific
Connection type is as follows：
First movement branched chain is made of lower link A5, middle connecting rod A6 and upper connecting rod A7, the one end lower link A5 and moving platform 1 it
Between connect by revolute pair R12 with middle connecting rod A6 by ball secondary S11 connections, the lower link A5 other ends；The one end upper connecting rod A7 and machine
It is connect by revolute pair R13 with middle connecting rod A6 by ball secondary S14 connections, the upper connecting rod A7 other ends between frame 2；Second movement branched chain
It is made of lower link B5, middle connecting rod B6 and upper connecting rod B7, is connected by revolute pair R21 between the one end lower link B5 and moving platform 1,
The lower link B5 other ends are connect with middle connecting rod B6 by ball secondary S22；Pass through revolute pair R24 between the one end upper connecting rod B7 and rack 2
Connection, the upper connecting rod B7 other ends are connect with middle connecting rod B6 by revolute pair R23；Third movement branched chain is by lower link C5, middle connecting rod
C6 and upper connecting rod C7 compositions, are connected between the one end lower link C5 and moving platform 1 by revolute pair R31, the lower link C5 other ends with
Middle connecting rod C6 passes through ball secondary S32 connections；It is connected by revolute pair R34 between the one end upper connecting rod C7 and rack 2, upper connecting rod C7 is another
End is connect with middle connecting rod C6 by revolute pair R33；4th movement branched chain is made of lower link D5, middle connecting rod D6 and upper connecting rod D7,
Revolute pair is passed through with middle connecting rod D6 by ball secondary S41 connections, the lower link D5 other ends between the one end lower link D5 and moving platform 1
R42 connections；By ball secondary S44 connections between the one end upper connecting rod D7 and rack 2, the upper connecting rod D7 other ends are with middle connecting rod D6 by turning
Dynamic secondary R43 connections.
It is connected with each other by four coupled links and a center rod 3 between four movement branched chains, every movement branched chain
It is connect by a coupled links between center rod 3, wherein in first one end coupled links A8 and the first movement branched chain
Middle connecting rod A6 is connected firmly, and the coupled links A8 other ends are connect with center rod 3 by revolute pair R15；Second one end coupled links B8
It is connected firmly with the middle connecting rod B6 in the second movement branched chain, the coupled links B8 other ends are connect with center rod 3 by revolute pair R25；
Third one end coupled links C8 is connected firmly with the middle connecting rod C6 in third movement branched chain, the coupled links C8 other ends and center rod 3
It is connected by revolute pair R35；4th one end coupled links D8 is connected firmly with the middle connecting rod D6 in the 4th movement branched chain, coupled links D8
The other end is connect with center rod 3 by revolute pair R45.The revolute pair R15 axis, revolute pair R25 axis, revolute pair R35
Axis, revolute pair R45 axis overlap to form an axis, if axis L centered on this axis.The revolute pair R12 axis
Line, revolute pair R21 axis, revolute pair R31 axis, revolute pair R42 axis, central axis L intersect at a point G；The revolute pair
R13 axis, revolute pair R23 axis, revolute pair R24 axis, revolute pair R33 axis, revolute pair R34 axis, revolute pair R43 axis
Line, central axis L intersect at point a K, point K and the point G is misaligned.
One end of the center rod 3 is connect by universal hinge U1 with machine output shaft 4, and the center of rotation of universal hinge U1
It is overlapped with the point G；The other end of center rod 3 passes through the output axis connection of universal hinge U2 and spindle motor 19, and universal hinge
The center of rotation of U2 is overlapped with the point K.Moving platform bearing 18, moving platform are equipped between the machine output shaft 4 and moving platform 1
The outer shroud of bearing 18 is connected firmly with moving platform 1, and inner ring and the machine output shaft 4 of moving platform bearing 18 connect firmly.The spindle motor 19
It is connected firmly with rack 2, rack bearing 17, the inner ring of rack bearing 17 and master is equipped between the output shaft and rack 2 of spindle motor 19
The output shaft of spindle motor 19 connects firmly, and outer shroud and the rack 2 of rack bearing 17 connect firmly.
Upper connecting rod B7 in second movement branched chain is connect by revolute pair R26 with one end of moving leader 13, mobile
The other end of guide rod 13 is connect by revolute pair R27 with sliding block 14, and sliding block 14 is connect with rack 2 by prismatic pair, the prismatic pair
The direction of motion it is vertical with revolute pair R24 axis, sliding block 14 is driven by ball-screw 15, one end of ball-screw 15 and driving electricity
The output shaft of machine 16 connects firmly, and driving motor 16 is connected firmly with rack 2.The revolute pair R24 axis, revolute pair R26 axis, revolute pair
R27 axis are mutually parallel.Upper connecting rod C7 in the third movement branched chain is connected by one end of revolute pair R36 and moving leader 9
It connects, the other end of moving leader 9 is connect by revolute pair R37 with sliding block 10, and sliding block 10 is connect with rack 2 by prismatic pair, should
The direction of motion of prismatic pair is vertical with revolute pair R34 axis, and sliding block 10 is driven by ball-screw 11, one end of ball-screw 11 with
The output shaft of driving motor 12 connects firmly, and driving motor 12 is connected firmly with rack 2.The revolute pair R34 axis, revolute pair R36 axis,
Revolute pair R37 axis are mutually parallel.
Embodiment 2
It is the 2nd embodiment disclosed by the invention, a kind of high-precision numerical control machine parallel connection master as shown in Fig. 3, Fig. 4 and Fig. 5
Spindle nose, main four movement branched chains including moving platform 1, rack 2, connection moving platform 1, rack 2, four movement branched chains it is specific
Connection type is as follows：
First movement branched chain is made of lower link A5, middle connecting rod A6 and upper connecting rod A7, the one end lower link A5 and moving platform 1 it
Between connect by revolute pair R12 with middle connecting rod A6 by ball secondary S11 connections, the lower link A5 other ends；The one end upper connecting rod A7 and machine
It is connected by revolute pair R14 between frame 2, the upper connecting rod A7 other ends are connect with middle connecting rod A6 by ball secondary S13；Second movement branched chain
It is made of lower link B5, middle connecting rod B6 and upper connecting rod B7, is connected by revolute pair R21 between the one end lower link B5 and moving platform 1,
The lower link B5 other ends are connect with middle connecting rod B6 by ball secondary S22；Pass through revolute pair R24 between the one end upper connecting rod B7 and rack 2
Connection, the upper connecting rod B7 other ends are connect with middle connecting rod B6 by revolute pair R23；Third movement branched chain is by lower link C5, middle connecting rod
C6 and upper connecting rod C7 compositions, are connected between the one end lower link C5 and moving platform 1 by revolute pair R31, the lower link C5 other ends with
Middle connecting rod C6 passes through ball secondary S32 connections；It is connected by revolute pair R34 between the one end upper connecting rod C7 and rack 2, upper connecting rod C7 is another
End is connect with middle connecting rod C6 by revolute pair R33；4th movement branched chain is made of lower link D5, middle connecting rod D6 and upper connecting rod D7,
Revolute pair is passed through with middle connecting rod D6 by ball secondary S41 connections, the lower link D5 other ends between the one end lower link D5 and moving platform 1
R42 connections；It is connected by revolute pair R44 between the one end upper connecting rod D7 and rack 2, the upper connecting rod D7 other ends pass through with middle connecting rod D6
Ball secondary S43 connections.
It is connected with each other by four coupled links and a center rod 3 between four movement branched chains, every movement branched chain
It is connect by a coupled links between center rod 3, wherein in first one end coupled links A8 and the first movement branched chain
Middle connecting rod A6 is connected firmly, and the coupled links A8 other ends are connect with center rod 3 by revolute pair R15；Second one end coupled links B8
It is connected firmly with the middle connecting rod B6 in the second movement branched chain, the coupled links B8 other ends are connect with center rod 3 by revolute pair R25；
Third one end coupled links C8 is connected firmly with the middle connecting rod C6 in third movement branched chain, the coupled links C8 other ends and center rod 3
It is connected by revolute pair R35；4th one end coupled links D8 is connected firmly with the middle connecting rod D6 in the 4th movement branched chain, coupled links
The D8 other ends are connect with center rod 3 by revolute pair R45.The revolute pair R15 axis, revolute pair R25 axis, revolute pair
R35 axis, revolute pair R45 axis overlap to form an axis, if axis L centered on this axis.The revolute pair R12
Axis, revolute pair R21 axis, revolute pair R31 axis, revolute pair R42 axis, central axis L intersect at a point G；The rotation
Secondary R14 axis, revolute pair R23 axis, revolute pair R24 axis, revolute pair R33 axis, revolute pair R34 axis, revolute pair R44 axis
Line, central axis L intersect at point a K, point K and the point G is misaligned.
One end of the center rod 3 is connect by universal hinge U1 with machine output shaft 4, and the center of rotation of universal hinge U1
It is overlapped with the point G；The other end of center rod 3 passes through the output axis connection of universal hinge U2 and spindle motor 19, and universal hinge
The center of rotation of U2 is overlapped with the point K.Moving platform bearing 18, moving platform are equipped between the machine output shaft 4 and moving platform 1
The outer shroud of bearing 18 is connected firmly with moving platform 1, and inner ring and the machine output shaft 4 of moving platform bearing 18 connect firmly.The spindle motor 19
It is connected firmly with rack 2, rack bearing 17, the inner ring of rack bearing 17 and master is equipped between the output shaft and rack 2 of spindle motor 19
The output shaft of spindle motor 19 connects firmly, and outer shroud and the rack 2 of rack bearing 17 connect firmly.
Upper connecting rod B7 in second movement branched chain is connect by revolute pair R26 with one end of moving leader 13, mobile
13 other end of guide rod is connect by revolute pair R27 with sliding block 14, and sliding block 14 is connect with rack 2 by prismatic pair, the prismatic pair
The direction of motion is vertical with the axis of revolute pair R24, and sliding block 14 is driven by ball-screw 15,15 one end of ball-screw and driving motor
16 output shaft connects firmly, and driving motor 16 is connected firmly with rack 2.The revolute pair R24 axis, revolute pair R26 axis, revolute pair
R27 axis are mutually parallel.Upper connecting rod C7 in the third movement branched chain is connected by one end of revolute pair R36 and moving leader 9
It connects, 9 other end of moving leader is connect by revolute pair R37 with sliding block 10, and sliding block 10 is connect with rack 2 by prismatic pair, the shifting
Move that the secondary direction of motion is vertical with the axis of revolute pair R34, and sliding block 10 is driven by ball-screw 11, one end of ball-screw 11 and
The output shaft of driving motor 12 connects firmly, and driving motor 12 is connected firmly with rack 2.The revolute pair R34 axis, revolute pair R36 axis,
Revolute pair R37 axis are mutually parallel.
Claims (10)
1. a kind of high-precision numerical control machine parallel main shaft head, include mainly rack, four of moving platform, connection frame, moving platform
Movement branched chain, it is characterized in that：Every movement branched chain is made of lower link, middle connecting rod and upper connecting rod, in the first movement branched chain A
The one end lower link A is connect with moving platform by the first ball secondary A, and the lower link A other ends pass through the second revolute pair with the one end middle connecting rod A
A connections, the middle connecting rod A other ends are connect with the one end upper connecting rod A by third revolute pair A, and the upper connecting rod A other ends and rack pass through the
Four ball secondary A connections；One end lower link B in second movement branched chain B is connect with moving platform by the first revolute pair B, and lower link B is another
One end is connect with the one end middle connecting rod B by the second ball secondary B, and the middle connecting rod B other ends pass through third revolute pair B with the one end upper connecting rod B
Connection, the upper connecting rod B other ends are connect with rack by the 4th revolute pair B；One end lower link C in third movement branched chain C with it is dynamic
Platform is connect with the one end middle connecting rod C by the second ball secondary C by the first revolute pair C connections, the lower link C other ends, and middle connecting rod C is another
One end is connect with the one end upper connecting rod C by third revolute pair C, and the upper connecting rod C other ends are connect with rack by the 4th revolute pair C；
One end lower link D in 4th movement branched chain D is connect with moving platform by the first ball secondary D, the lower link D other ends and middle connecting rod D
One end is connect with the one end upper connecting rod D by third revolute pair D by the second revolute pair D connections, the middle connecting rod D other ends, upper connecting rod D
The other end is connect with rack by the 4th ball secondary D；
Be connected with each other by four coupled links and center rod between four movement branched chains, every movement branched chain with
It is connected by a coupled links between center rod, coupled links one end is connected firmly with the middle connecting rod in movement branched chain, and coupling connects
The bar other end is connect with center rod by revolute pair, the axis for four revolute pairs that four coupled links are connect with center rod
It overlaps to form an axis, if axis L centered on the axis；The second revolute pair A axis, the first revolute pair B axle line,
One revolute pair C axis, the second revolute pair D axis, central axis L intersect at a point G；The third revolute pair A axis, third turn
Dynamic pair B axle line, the 4th revolute pair B axle line, third revolute pair C axis, the 4th revolute pair C axis, third revolute pair D axis, in
Mandrel line L intersects at point a K, point K and the point G is misaligned.
2. a kind of high-precision numerical control machine parallel main shaft head according to claim 1, it is characterized in that：The center rod
One end is connect by the first universal hinge with machine output shaft, and the center of rotation of the first universal hinge is overlapped with the point G；Center connects
The other end of bar is by the second universal hinge and the output axis connection of spindle motor, and the center of rotation of the second universal hinge and the point
K is overlapped.
3. a kind of high-precision numerical control machine parallel main shaft head according to claim 2, it is characterized in that：The machine output shaft
Moving platform bearing is equipped between moving platform, inner ring and the machine output shaft of moving platform bearing connect firmly, the outer shroud of moving platform bearing
It is connected firmly with moving platform.
4. a kind of high-precision numerical control machine parallel main shaft head according to claim 2, it is characterized in that：The spindle motor with
Rack connects firmly, and is equipped with rack bearing between the output shaft and rack of spindle motor, the inner ring of rack bearing and spindle motor it is defeated
Shaft connects firmly, and outer shroud and the rack of rack bearing connect firmly.
5. a kind of high-precision numerical control machine parallel main shaft head according to claim 1, it is characterized in that：The second movement branch
Upper connecting rod B in chain is connect by the 6th revolute pair B with one end of moving leader B, and the other end of moving leader B passes through the 7th turn
Dynamic secondary B is connect with slide block B, and slide block B is connect with rack by prismatic pair B, and prismatic pair B is that driving is secondary, the 4th revolute pair B
Axis, the 6th revolute pair B axle line, the 7th revolute pair B axle line are mutually parallel, the direction of motion of prismatic pair B and the 4th revolute pair B axle
Line is vertical；Upper connecting rod C in the third movement branched chain is connect by the 6th revolute pair C with one end of moving leader C, and movement is led
The other end of bar C is connect by the 7th revolute pair C with sliding block C, and sliding block C is connect with rack by prismatic pair C, and prismatic pair C is
Driving is secondary, and the 4th revolute pair C axis, the 6th revolute pair C axis, the 7th revolute pair C axis are mutually parallel, prismatic pair C's
The direction of motion is vertical with the 4th revolute pair C axis.
6. a kind of high-precision numerical control machine parallel main shaft head, include mainly rack, four of moving platform, connection frame, moving platform
Movement branched chain, it is characterized in that：Every movement branched chain is made of lower link, middle connecting rod and upper connecting rod, in the first movement branched chain A
The one end lower link A is connect with moving platform by the first ball secondary A, and the lower link A other ends pass through the second revolute pair with the one end middle connecting rod A
A connections, the middle connecting rod A other ends are connect with the one end upper connecting rod A by third ball secondary A, and the upper connecting rod A other ends pass through the 4th with rack
Revolute pair A connections；One end lower link B in second movement branched chain B is connect with moving platform by the first revolute pair B, and lower link B is another
One end is connect with the one end middle connecting rod B by the second ball secondary B, and the middle connecting rod B other ends pass through third revolute pair B with the one end upper connecting rod B
Connection, the upper connecting rod B other ends are connect with rack by the 4th revolute pair B；One end lower link C in third movement branched chain C with it is dynamic
Platform is connect with the one end middle connecting rod C by the second ball secondary C by the first revolute pair C connections, the lower link C other ends, and middle connecting rod C is another
One end is connect with the one end upper connecting rod C by third revolute pair C, and the upper connecting rod C other ends are connect with rack by the 4th revolute pair C；
One end lower link D in 4th movement branched chain D is connect with moving platform by the first ball secondary D, the lower link D other ends and middle connecting rod D
One end is connect with the one end upper connecting rod D by third ball secondary D by the second revolute pair D connections, the middle connecting rod D other ends, and upper connecting rod D is another
One end is connect with rack by the 4th revolute pair D；
Be connected with each other by four coupled links and center rod between four movement branched chains, every movement branched chain with
It is connected by a coupled links between center rod, coupled links one end is connected firmly with the middle connecting rod in movement branched chain, and coupling connects
The bar other end is connect with center rod by revolute pair, the axis for four revolute pairs that four coupled links are connect with center rod
It overlaps to form an axis, if axis L centered on the axis；The second revolute pair A axis, the first revolute pair B axle line,
First revolute pair C axis, the second revolute pair D axis, central axis L intersect at a point G；The 4th revolute pair A axis, third
Revolute pair B axle line, the 4th revolute pair B axle line, third revolute pair C axis, the 4th revolute pair C axis, the 4th revolute pair D axis,
Central axis L intersects at point a K, point K and the point G is misaligned.
7. a kind of high-precision numerical control machine parallel main shaft head according to claim 6, it is characterized in that：The center rod
One end is connect by the first universal hinge with machine output shaft, and the center of rotation of the first universal hinge is overlapped with the point G；Center connects
The other end of bar is by the second universal hinge and the output axis connection of spindle motor, and the center of rotation of the second universal hinge and the point
K is overlapped.
8. a kind of high-precision numerical control machine parallel main shaft head according to claim 7, it is characterized in that：The machine output shaft
Moving platform bearing is equipped between moving platform, inner ring and the machine output shaft of moving platform bearing connect firmly, the outer shroud of moving platform bearing
It is connected firmly with moving platform.
9. a kind of high-precision numerical control machine parallel main shaft head according to claim 7, it is characterized in that：The spindle motor with
Rack connects firmly, and is equipped with rack bearing between the output shaft and rack of spindle motor, the inner ring of rack bearing and spindle motor it is defeated
Shaft connects firmly, and outer shroud and the rack of rack bearing connect firmly.
10. a kind of high-precision numerical control machine parallel main shaft head according to claim 6, it is characterized in that：Second movement
Upper connecting rod B in branch is connect by the 6th revolute pair B with one end of moving leader B, and the other end of moving leader B passes through the 7th
Revolute pair B is connect with slide block B, and slide block B is connect with rack by prismatic pair B, and prismatic pair B is that driving is secondary, the 4th rotation
Secondary B axle line, the 6th revolute pair B axle line, the 7th revolute pair B axle line are mutually parallel, the direction of motion of prismatic pair B and the 4th revolute pair
B axle line is vertical；Upper connecting rod C in the third movement branched chain is connect by the 6th revolute pair C with one end of moving leader C, is moved
The other end of dynamic guide rod C is connect by the 7th revolute pair C with sliding block C, and sliding block C is connect with rack by prismatic pair C, and prismatic pair
C is that driving is secondary, and the 4th revolute pair C axis, the 6th revolute pair C axis, the 7th revolute pair C axis are mutually parallel, prismatic pair C
The direction of motion it is vertical with the 4th revolute pair C axis.
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| CN103217986A (en) * | 2013-03-13 | 2013-07-24 | 北京航空航天大学 | Two-freedom-degree parallel-connection rotation mechanism with spherical surface pure-rolling property |
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| SE527873C2 (en) * | 2004-11-18 | 2006-07-04 | Exechon Ab | Parallel kinematic machine |
| CN100377847C (en) * | 2006-04-30 | 2008-04-02 | 天津大学 | Parallel mechanism having two rotational and one translational motion freedom |
| CN101691013A (en) * | 2009-09-25 | 2010-04-07 | 中捷机床有限公司 | Parallel main shaft head movable arm supporting structure and manufacturing method |
| CN102161201B (en) * | 2011-04-27 | 2012-05-16 | 天津大学 | Up-and-down telescopic three-platform one-rotation parallel mechanism |
| CN202556406U (en) * | 2012-03-28 | 2012-11-28 | 广西大学 | Parallel-connection welding robot performing three-dimensional translation and one-dimensional complete-cycle rotation |
| CN102642205A (en) * | 2012-04-20 | 2012-08-22 | 清华大学 | Parallel mechanism of four-degree-of-freedom dual acting platform |
| CN103231254B (en) * | 2013-04-22 | 2015-05-06 | 浙江理工大学 | Redundant drive three-freedom-degree parallel mechanism with double motion platforms |
| CN205393570U (en) * | 2016-03-24 | 2016-07-27 | 褚宏鹏 | High accuracy digit control machine tool main tapping that connects in parallel |
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| CN103217986A (en) * | 2013-03-13 | 2013-07-24 | 北京航空航天大学 | Two-freedom-degree parallel-connection rotation mechanism with spherical surface pure-rolling property |
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Effective date of registration: 20180725 Address after: 225500 Cai Guan industrial concentration area, Zhang Dian Town, Jiangyan District, Taizhou, Jiangsu Applicant after: Jiangsu Zhongzhi Automation Co., Ltd. Address before: 066004 438 west section of Hebei Avenue, Qinhuangdao, Hebei. Applicant before: Chu Hongpeng |
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Address after: 225500 Cai Guan industrial concentration area, Zhang Dian Town, Jiangyan District, Taizhou, Jiangsu Patentee after: Jiangsu Zhongzhi Automation Co., Ltd Address before: 225500 Cai Guan industrial concentration area, Zhang Dian Town, Jiangyan District, Taizhou, Jiangsu Patentee before: Jiangsu Zhongzhi Automation Co., Ltd. |