CN109702645B - Main shaft swinging angle control method of machine tool with main shaft capable of swinging - Google Patents
Main shaft swinging angle control method of machine tool with main shaft capable of swinging Download PDFInfo
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- CN109702645B CN109702645B CN201910029005.XA CN201910029005A CN109702645B CN 109702645 B CN109702645 B CN 109702645B CN 201910029005 A CN201910029005 A CN 201910029005A CN 109702645 B CN109702645 B CN 109702645B
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Abstract
The invention relates to the field of numerical control machine tool structures, in particular to a method for controlling a spindle swinging angle of a spindle swingable machine tool, which can realize swinging of a machine tool spindle and is simple in structure and easy to realize. The utility model provides a wobbling lathe of main shaft, includes base, spindle drum and stand, the stand is connected with the base, the stand slides and is provided with the vertical slip table of first vertical slip table and second, the spindle drum is provided with main shaft and cutter, and spindle drum one end is rotated with first vertical slip table and is connected, and the other end passes through the connecting rod to be connected with the vertical slip table of second, all rotates between spindle drum, connecting rod and the vertical slip table of second and is connected. A main shaft swinging angle control method of a main shaft swinging machine tool controls a swinging angle of a main shaft by controlling a height difference between a first vertical sliding table and a second vertical sliding table.
Description
Technical Field
The invention relates to the field of numerical control machine tool structures, in particular to a method for controlling a spindle swinging angle of a spindle swingable machine tool.
Background
The machining of the curved surface of the part adopts a multi-axis numerical control machine tool, including a numerical control milling machine, a numerical control grinding machine and the like. The multi-axis numerical control machine tool is generally formed by adding one or more rotating shafts to three linear moving shafts, the rotating shaft of the machine tool is generally realized by adopting a precision speed reducer, and the speed reducer adopted by the existing rotating shaft comprises a worm and gear speed reducer, a harmonic reduction speed reducer, an RV speed reducer and the like. The worm gear reducer and the gear reducer are easy to wear in the use process, so that the indexing precision is reduced, and the requirement of a high-precision machine tool is difficult to meet; the harmonic reducer and the RV reducer have high quality and reliable functions, but have higher production and manufacturing costs.
Chinese patent publication No. CN101380717A discloses a machine tool module mechanism capable of oblique machining of a double-slider driving link mechanism, which achieves the purpose of swinging a machine tool spindle by the double-slider driving link mechanism. However, the tangential angles of the positions on the curved surface are different, the angle of the main shaft needs to be continuously changed in the machining process, and the inclined machining only can be carried out, so that the curved surface is greatly different from the curved surface machining. Besides the feasible structure of processing the curved surface, the motion of the main shaft needs to be controlled by a certain control method, so that the main shaft is conveniently controlled and can continuously swing, and the curved surface is processed.
Disclosure of Invention
The invention aims to provide a machine tool with a main shaft capable of swinging and a swinging angle control method, which can realize the swinging of the main shaft of the machine tool, and have simple structure and easy realization.
In order to achieve the above purpose, the invention provides the following technical scheme:
the utility model provides a wobbling lathe of main shaft, includes base, spindle drum and stand, the stand is connected with the base, the stand slides and is provided with the vertical slip table of first vertical slip table and second, the spindle drum is provided with main shaft and cutter, and spindle drum one end is rotated with first vertical slip table and is connected, and the other end passes through the connecting rod to be connected with the vertical slip table of second, all rotates between spindle drum, connecting rod and the vertical slip table of second to be connected, the spindle drum is first revolute pair with first vertical slip table tie point, the spindle drum is the second revolute pair with the connecting rod tie point, the connecting rod is the third revolute pair with the vertical slip table tie point of second.
Through changing the difference in height between the vertical slip table of first vertical slip table and the vertical slip table of second can realize the horizontal hunting of spindle drum, need not use traditional retarding apparatus can carry out the curved surface processing, very big reduction manufacturing cost.
Preferably, the first vertical sliding table and the second vertical sliding table are connected with the upright post through lead screws respectively, and the lead screws are vertically arranged. The lead screw can drive the vertical sliding table to move up and down, and the first vertical sliding table and the second vertical sliding table are more convenient to control when sliding in parallel.
Preferably, the sum of the distance from the first rotating pair to the second rotating pair and the distance from the second rotating pair to the third rotating pair is greater than the minimum distance from the first rotating pair to the third rotating pair. When the sum of the distance from the first rotating pair to the second rotating pair and the distance from the second rotating pair to the third rotating pair is not more than the minimum distance from the first rotating pair to the third rotating pair, the scheme is difficult to realize.
Preferably, the distance from the first rotating pair to the second rotating pair is equal to the minimum distance from the first rotating pair to the third rotating pair. When the distance requirement is met, a connecting line from the first rotating pair to the second rotating pair is horizontal, when the connecting rod is vertical, the direction of the main shaft is vertical and downward, the main shaft is convenient to control in an initial state, in the initial state, the third rotating pair is positioned right above the second rotating pair, and the second rotating pair and the first rotating pair are positioned at the same height. The distance from the revolute pair to the revolute pair described in the present invention is the distance from the revolute pair center to the revolute pair center.
Preferably, the base is provided with a first horizontal sliding table and a second horizontal sliding table, the first horizontal sliding table is connected with the base in a horizontal sliding mode, the second horizontal sliding table is connected with the first horizontal sliding table in a horizontal sliding mode, and the sliding direction of the first horizontal sliding table is perpendicular to that of the second horizontal sliding table. The first horizontal sliding table and the second horizontal sliding table are used for placing workpieces.
A main shaft swinging angle control method of a main shaft swinging machine tool comprises the following steps:
a. setting the swing angle of the main shaft to be 0 when the main shaft vertically faces downwards; the unit vector (1, 0, 0) along the X axis is uxThe unit vector (0, 0, 1) along the Z axis is uzThe first revolute pair central point P1The position relative to the center point P of the bottom of the tool can be denoted PP1Second revolute pair central point P2The position relative to the center point P of the bottom of the tool can be denoted PP2；
b. Setting the position of the front knife location as Pl(x, y, z), the current tool location point has the formula n (i, j, k),
c. when the main shaft needs to swing by an angle B, P is in a workpiece coordinate system1And P2The positions of (A) are:
d. in the workpiece coordinate system, the coordinate axis data are:
wherein k is (W)1+W2) × (1-cosB), the horizontal distance from the central line of the main shaft to the center of the first revolute pair is W1The distance from the central line of the main shaft to the center of the second rotating pair is W2And the distance between the centers of the second rotating pair and the third rotating pair is H.
According to the invention, the swing angle of the main shaft is changed by changing the height difference between the first vertical sliding table and the second vertical sliding table, so that the control can be simply realized by calculating the height difference between the two vertical sliding tables when the main shaft swings for a certain angle. When the main shaft needs to rotate by an angle B, each coordinate axis of the machine tool needs to satisfy each parameter in the above formula (3).
Preferably, the first revolute pair central point P1The position relative to the center point P of the bottom of the tool is denoted PP1＝-W1·ux+(L1+L2)·uzSecond revolute pair central point P2The position relative to the center point P of the bottom of the tool is denoted PP2＝W2·ux+(L1+L2)·uz；
Wherein, the height distance from the lower end surface of the main shaft to the center connecting line of the first rotating pair and the second rotating pair is L1The height distance from the top point of the cutter to the lower end surface of the main shaft is L2。
Preferably, the spindle swing angle B ranges between-30 ° and 30 °.
The invention has simple structure, does not need a complex turntable and a related speed reducer, and can realize the control of the main shaft swinging angle by only controlling the height difference of the two vertical sliding tables. Under the requirement environment of processing curved surface, the manufacturing cost of equipment can be greatly reduced.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of spindle base movement;
FIG. 3 is a schematic view of the initial position of the spindle;
FIG. 4 is a schematic view of the spindle movement position;
description of reference numerals:
the method comprises the following steps of 1-base, 2-spindle seat, 3-upright column, 4-first vertical sliding table, 5-second vertical sliding table, 6-connecting rod, 7-workpiece, 11-first horizontal sliding table, 12-second horizontal sliding table, 21-first rotating pair, 22-second rotating pair, 23-spindle, 24-cutter, 31-lead screw and 51-third rotating pair.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 4, a machine tool with a swingable spindle according to an embodiment of the present invention includes a base 1, a spindle base 2, an upright column 3, a first vertical sliding table 4 and a second vertical sliding table 5, where the upright column 3 is fixedly connected to the base 1, the first vertical sliding table 4 and the second vertical sliding table 5 are both disposed on the upright column 3 and slidably connected to the upright column 3, and both sliding directions are vertical. One side of the spindle seat 2 is rotatably connected with the first vertical sliding table 4, a first rotating pair 21 is arranged at the joint, the other side of the spindle seat 2 is connected with the second vertical sliding table 5 through a connecting rod 6, a second rotating pair 22 is arranged at the joint of the connecting rod 6 and the spindle seat 2, and a third rotating pair 51 is arranged at the joint of the connecting rod 6 and the second vertical sliding table 5.
The spindle base 2 is provided with a spindle 23 and a tool 24, and the tool 24 is rotatably connected with the spindle base 2 through the spindle 23.
The first vertical sliding table 4 and the second vertical sliding table 5 are connected with the upright post 3 through a screw rod 31 respectively.
The first rotating pair 21 and the second rotating pair 22 are located on the left and right sides of the spindle base 2, and the distance between the centers of the two rotating pairs is the same as the distance between the axes of the two screws 31.
The base 1 is still provided with a first horizontal sliding table 11 and a second horizontal sliding table 12, the first horizontal sliding table 11 is connected with the base 1 in a horizontal sliding mode, the second horizontal sliding table 12 is connected with the first horizontal sliding table 11 in a horizontal sliding mode, and the motion directions of the two horizontal sliding tables are perpendicular.
Fig. 2 is a schematic movement diagram of the spindle base 2 of the present invention, in a state (a) being an initial position, the first rotating pair 21 and the second rotating pair 22 are located at the same horizontal height, that is, the spindle 23 and the tool 24 are in a vertical state, and a height difference between the second vertical sliding table 4 and the first vertical sliding table 5 is a distance from the second rotating pair 22 to a center of the third rotating pair 51.
When the height difference between the two vertical sliding tables is not changed and the two vertical sliding tables move synchronously, the state is the state (B), and the main shaft 23 and the cutter 24 do linear motion.
When the height difference between the two vertical sliding tables increases, the state is the state (C), and the spindle 23 and the tool 24 swing rightwards at the moment.
When the difference in height between the two vertical slides is reduced, state (D) is reached, and the spindle 23 and the tool 24 are swung leftward.
As shown in fig. 3, the main shaft 23 and the tool 24 are vertical devices in the initial state, and as shown in fig. 4, when the workpiece 7 needs to be machined on a curved surface, the second vertical sliding table 5 is lifted relative to the first vertical sliding table 4, and at this time, the main shaft 23 and the tool 24 swing along with the main shaft base 2 to match with the curved surface of the workpiece 7.
A main shaft swinging angle control method of a main shaft swinging machine tool comprises the following steps:
a. setting the swing angle of the main shaft 23 to be 0 when the main shaft is vertically downward; the unit vector (1, 0, 0) along the X axis is uxThe unit vector (0, 0, 1) along the Z axis is uzThen, the center point P of the first rotary pair 211The position relative to the bottom center point P of the tool 24 can be represented as PP1Center point P of second rotary pair 222Relative to the bottom of the tool 24The position of the center point P can be represented as PP2；
b. Setting the position of the front knife location as Pl(x, y, z), the current tool location point has the formula n (i, j, k),
c. p in the object coordinate system when the spindle 23 is required to perform a swing of angle B1And P2The positions of (A) are:
d. in the workpiece coordinate system, the coordinate axis data are:
wherein k is (W)1+W2) × (1-cosB), the horizontal distance from the central line of the main shaft 23 to the center of the first rotating pair 21 is W1The distance from the central line of the main shaft 23 to the center of the second rotating pair 22 is W2The center distance between the second rotary pair 22 and the third rotary pair 51 is H.
First rotating pair 21 center point P1The position of the bottom center point P relative to the tool 24 is indicated as PP1＝-W1·ux+(L1+L2)·uzCenter point P of second rotary pair 222The position of the bottom center point P relative to the tool 24 is indicated as PP2＝W2·ux+(L1+L2)·uz；
Wherein, the height distance from the lower end surface of the main shaft 23 to the central connecting line of the first rotating pair 21 and the second rotating pair 22 is L1The height distance from the top point of the tool 24 to the lower end surface of the main shaft 23 is L2。
The distances between the revolute pairs in the embodiment are the distances from the revolute pair center to the revolute pair center. In this embodiment, the upper, lower, left and right directions are the upper, lower, left and right directions in the corresponding drawings.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (7)
1. A main shaft swinging angle control method of a machine tool with a main shaft capable of swinging is characterized in that: the method comprises the following steps:
a. setting the swing angle of the main shaft (23) to be 0 when the main shaft is vertically downward; the unit vector (1, 0, 0) along the X axis is uxThe unit vector (0, 0, 1) along the Z axis is uzThe center point P of the first rotating pair (21)1The position of the tool (24) relative to the bottom center point P can be represented as PP1The center point P of the second rotating pair (22)2The position of the tool (24) relative to the bottom center point P can be represented as PP2；
b. Setting the position of the front knife location as Pl(x, y, z), the current tool location point has the formula n (i, j, k),
c. when the main shaft (23) needs to swing by an angle B, P is in the workpiece coordinate system1And P2The positions of (A) are:
d. in the workpiece coordinate system, the coordinate axis data are:
wherein k is (W)1+W2) × (1-cosB), the horizontal distance from the central line of the main shaft (23) to the center of the first rotating pair (21) is W1The distance from the central line of the main shaft (23) to the center of the second rotating pair (22) is W2The distance between the centers of the second rotating pair (22) and the third rotating pair (51) is H;
the machine tool comprises a base (1), a spindle seat (2) and a vertical column (3), wherein the vertical column (3) is connected with the base (1), the upright post (3) is provided with a first vertical sliding table (4) and a second vertical sliding table (5) in a sliding way, the spindle seat (2) is provided with a spindle (23) and a cutter (24), one end of the spindle seat (2) is rotatably connected with the first vertical sliding table (4), the other end of the spindle seat is connected with the second vertical sliding table (5) through a connecting rod (6), the spindle seat (2), the connecting rod (6) and the second vertical sliding table (5) are rotatably connected, the connection point of the spindle seat (2) and the first vertical sliding table (4) is a first rotating pair (21), the connection point of the main shaft seat (2) and the connecting rod (6) is a second rotating pair (22), and the connecting point of the connecting rod (6) and the second vertical sliding table (5) is a third rotating pair (51).
2. The method of controlling the spindle swing angle of a spindle swingable machine tool according to claim 1, characterized in that: the center point P of the first rotating pair (21)1The position of the tool (24) relative to the bottom center point P is denoted PP1＝-W1·ux+(L1+L2)·uzThe center point P of the second rotating pair (22)2The position of the tool (24) relative to the bottom center point P is denoted PP2＝W2·ux+(L1+L2)·uz；
Wherein the height distance from the lower end surface of the main shaft (23) to the central connecting line of the first rotating pair (21) and the second rotating pair (22) is L1The height distance from the top point of the cutter (24) to the lower end surface of the main shaft (23) is L2。
3. The method of controlling the spindle swing angle of a spindle swingable machine tool according to claim 1, characterized in that: the swing angle B of the main shaft (23) ranges from-30 degrees to 30 degrees.
4. The method of controlling the spindle swing angle of a spindle swingable machine tool according to claim 1, characterized in that: the first vertical sliding table (4) and the second vertical sliding table (5) are connected with the upright post (3) through lead screws (31), and the lead screws (31) are vertically arranged.
5. The method of controlling the spindle swing angle of a spindle swingable machine tool according to claim 1, characterized in that: the sum of the distance from the first rotating pair (21) to the second rotating pair (22) and the distance from the second rotating pair (22) to the third rotating pair (51) is larger than the minimum distance from the first rotating pair (21) to the third rotating pair (51).
6. The method of controlling the spindle swing angle of a spindle swingable machine tool according to claim 5, characterized in that: the distance from the first rotating pair (21) to the second rotating pair (22) is equal to the minimum distance from the first rotating pair (21) to the third rotating pair (51).
7. The method of controlling the spindle swing angle of a spindle swingable machine tool according to claim 1, characterized in that: the base (1) is provided with a first horizontal sliding table (11) and a second horizontal sliding table (12), the first horizontal sliding table (11) is connected with the base (1) in a horizontal sliding mode, the second horizontal sliding table (12) is connected with the first horizontal sliding table (11) in a horizontal sliding mode, and the first horizontal sliding table (11) is perpendicular to the sliding direction of the second horizontal sliding table (12).
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| US5020281A (en) * | 1989-04-03 | 1991-06-04 | American Pneumatic Technologies, Inc. | High speed rotary hand tool with adjustable head coupling |
| CN101269463B (en) * | 2008-04-25 | 2010-06-02 | 清华大学 | Multi-shaft linkage series-parallel machine tool |
| 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 |
| CN103506955B (en) * | 2013-09-12 | 2016-08-17 | 上海交通大学 | Internal Spherical Surface ring accurate grinding is at level detecting apparatus and automatic testing method |
| CN108356579A (en) * | 2018-05-21 | 2018-08-03 | 科德数控股份有限公司 | The vertical sleeping conversion imaginary axis pivot angle milling head of one kind |
| CN109129158B (en) * | 2018-10-30 | 2023-06-02 | 吉林大学 | Precise milling and grinding machine tool based on parallel tool system and control method thereof |
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