CN111438539A - Vertical series-parallel carving machine and working method thereof - Google Patents
Vertical series-parallel carving machine and working method thereof Download PDFInfo
- Publication number
- CN111438539A CN111438539A CN202010379236.6A CN202010379236A CN111438539A CN 111438539 A CN111438539 A CN 111438539A CN 202010379236 A CN202010379236 A CN 202010379236A CN 111438539 A CN111438539 A CN 111438539A
- Authority
- CN
- China
- Prior art keywords
- component
- branch
- fixing seat
- revolute
- parallel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 238000012545 processing Methods 0.000 claims abstract description 38
- 238000003754 machining Methods 0.000 claims abstract description 19
- 239000002131 composite material Substances 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 238000013519 translation Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 239000000758 substrate Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
- B23Q1/30—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members controlled in conjunction with the feed mechanism
-
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/70—Stationary or movable members for carrying working-spindles for attachment of tools or work
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Machine Tool Units (AREA)
- Manufacture Or Reproduction Of Printing Formes (AREA)
Abstract
The invention relates to a vertical series-parallel carving machine and a working method thereof, wherein the vertical series-parallel carving machine comprises a parallel mechanism, a fixed rack, a movable base and a two-degree-of-freedom processing table; the parallel mechanism comprises a first branch component, a second branch component, a third branch component, a movable support table, a main shaft fixing seat and a carving main shaft; a fixed frame is arranged on the movable base; the fixed frame is provided with a parallel mechanism and a two-degree-of-freedom processing table arranged on a lower bottom plate of the fixed frame; the two-degree-of-freedom machining table comprises a linear sliding table and a swinging mechanism arranged on the linear sliding table; the series-parallel carving machine can realize five-axis linkage and has the capability of five-axis machining; and the structure is simple, the modularization degree is high, the working space is large, and the application potential is large in the field of engraving machines.
Description
The technical field is as follows:
the invention relates to the field of engraving machines, in particular to an engraving machine capable of realizing five-axis machining and a working method thereof.
Background art:
the early traditional three-axis engraving machine has high flexibility and large working space, but adopts a series structure, and has large transmission system, accumulated error and large volume; especially, only one engraving station is provided, and multi-surface processing cannot be realized, so that the direction of the engraving machine needs to be changed manually, and the phenomena of error accumulation, time waste, processing efficiency reduction and the like occur in the process of dismounting.
For the carving piece with a large curved surface, the traditional three-axis carving machine cannot complete the task; in order to solve the problem of multi-surface processing, five-axis engraving machines are developed in recent years, the five-axis engraving machines mostly adopt a serial mechanism to match with a 2 or 3-degree-of-freedom turntable, and the five-axis engraving machines can realize three-coordinate translation and A/B axis rotation, or A/C axis rotation, or B/C axis rotation and other forms of the worktable; however, the series-connected carving machines are in an open chain structure, and the problems of large part structure, large motion inertia, low speed and accumulated error are necessarily caused.
Therefore, it is a development power to explore a new type of engraving machine to achieve high precision, multi-surface processing, and reduction of accumulated errors. In recent years, with the development of parallel mechanisms and parallel machines, research on such mechanisms has been conducted in both the engraving field and the machining and manufacturing field, and unlike the serial mechanism, the parallel mechanism has been favored as new machining equipment due to its characteristics such as low cumulative error, high rigidity, high speed, high flexibility, and simple structure.
In order to adapt to the processing characteristics in the engraving field, engravers with a parallel-serial structure are also being researched and developed, and in the application of numerical control machines, the parallel-serial numerical control machines are already applied to processing large-scale aviation structural members in the aircraft manufacturing field. Among them, a hybrid machine tool represented by a Tricept hybrid machining center, an Exechon hybrid machining center, a Z3 hybrid machining center, or the like is used for machining high-precision parts.
However, in the field of engraving machines, five-axis engraving machines adopting parallel mechanism series-parallel connection serial mechanisms are few, and particularly, how to select a proper parallel mechanism series-parallel connection serial mechanism to realize five-axis machining and maintain high rigidity, large working space and low accumulated error is a problem to be solved at present.
The invention content is as follows:
in view of the defects of the prior art, the invention provides a vertical series-parallel engraving machine and a working method thereof for solving the acknowledged technical problems so as to realize the processing of a curved surface; the engraving machine not only improves the rigidity and increases the working space, but also can reduce the error accumulation of the traditional five-axis engraving machine, and can be used for processing complex engraving pieces.
In order to achieve the purpose, the invention adopts the technical scheme that: a vertical series-parallel carving machine comprises a parallel mechanism, a fixed frame, a movable base and a two-degree-of-freedom processing table; the parallel mechanism comprises a first branch component, a second branch component, a third branch component, a movable support platform and a carving main shaft, and a fixed frame is arranged on the movable base; the fixed frame is provided with a parallel mechanism, and a two-degree-of-freedom processing table is arranged on the lower bottom plate of the fixed frame; the two-degree-of-freedom machining table comprises a linear sliding table and a swing mechanism arranged on the linear sliding table.
Furthermore, first branch subassembly and second branch subassembly have the same structural style, all include linear drive subassembly, hooke's hinge, revolute pair subassembly, the hooke's hinge includes hooke hinge support seat, hooke hinge supporting axle, hooke hinge frame, hooke hinge shaft cover, linear drive subassembly upper portion is connected with fixed frame through the hooke hinge, and linear drive subassembly lower part is connected with moving the supporting bench through revolute pair subassembly, the revolute pair subassembly includes branch revolves head, branch and rotates crossbearer and rotation pin axle. The linear driving assembly is internally provided with a branch assembly plate, an assembly screw rod is arranged on the branch assembly plate, a nut fixing seat is arranged on the assembly screw rod and connected with an assembly sliding block, two sliding rails are arranged on the branch assembly plate, and an assembly motor fixing seat is arranged at the head of the grouping assembly plate and connected with an assembly servo motor.
Further, the third branch assembly comprises a linear driving assembly, a rotating frame and a composite hinge; the linear driving assembly is connected with the fixed rack through a rotating frame, and the lower part of the revolute pair assembly is connected with the movable supporting table through a composite hinge; the composite hinge comprises a third branch head, a composite connecting frame, a composite movable transverse frame and a pin shaft.
Furthermore, a through hole is formed in the center of the movable support platform, the carving main shaft is fixedly arranged in the through hole, and a main shaft fixing seat is arranged below the center of the movable support platform; threaded holes are formed in the peripheral side face of the movable supporting platform and connected with the revolute pair assembly and the composite hinge, and then the first branch assembly, the second branch assembly and the third branch assembly are connected to form a space closed-loop mechanism.
Furthermore, the two-degree-of-freedom machining table comprises a linear sliding table and a swinging mechanism arranged on the linear sliding table; the linear sliding table comprises a sliding plate, a sliding block, a guide rail, a motor base, a servo motor, a movable carrying platform, a sliding table screw rod, a nut fixing base and a bearing base; the sliding plate is provided with a guide rail, the sliding plate is arranged on the guide rail in a sliding manner, the sliding block is connected with a fixed seat, a sliding table lead screw penetrates through the fixed seat, and the fixed seat is connected with a movable carrying platform; the tail part of the sliding plate is provided with a motor base, the motor base is connected with a servo motor, and a lead screw penetrates through a shaft seat and is installed on the sliding plate; the movable carrying platform is provided with a swinging mechanism.
Further, the swing mechanism comprises a swing bottom plate, a support adjusting block, a left supporting seat, a right supporting seat, a rotating plate, a planetary reducer, a servo motor, a rotating base plate and a machining workbench; the swing bottom plate is connected with a support adjusting block, a left support seat and a right support seat are arranged on the support adjusting block, a rotating plate is connected on the support seats, and the rotating base plate is arranged on the left rotating plate and the right rotating plate; a processing workbench is arranged on the rotating base plate; the processing workbench is used for clamping the carving piece.
The invention relates to a working method of a vertical series-parallel carving machine, which comprises a parallel mechanism, a fixed frame, a movable base and a two-degree-of-freedom processing table; the parallel mechanism comprises a first branch component, a second branch component, a third branch component, a movable support table, a main shaft fixing seat and a carving main shaft; a fixed frame is arranged on the movable base; the fixed frame is provided with a parallel mechanism and a two-degree-of-freedom processing table arranged on a lower bottom plate of the fixed frame; the two-degree-of-freedom machining table comprises a linear sliding table and a swinging mechanism arranged on the linear sliding table; the carving main shaft is realized through a parallel mechanism fixed on a fixed frame: the rotation of the two shafts and the translation of the two shafts; the arranged processing workpieces are realized through a two-degree-of-freedom processing table: rotation of a shaft and translation of the shaft.
Furthermore, the first branch assembly and the second branch assembly have the same structure and respectively comprise a linear driving assembly, a hook joint and a revolute pair assembly; the Hooke joint comprises a Hooke joint support seat, a Hooke joint support shaft, a Hooke joint frame and a Hooke joint shaft cover, the upper part of the linear driving assembly is connected with the fixed rack through a Hooke joint, the lower part of the linear driving assembly is connected with the movable support platform through a revolute pair assembly, the revolute pair assembly comprises a branch rotating head, a branch rotating cross frame and a rotating pin shaft for hinging the branch rotating head and the branch rotating cross frame, a branch assembly plate is arranged in the linear driving assembly, an assembly lead screw is arranged on the branch assembly plate, a nut fixing seat is arranged on the assembly lead screw and connected with an assembly sliding block, two sliding rails are arranged on the branch assembly plate, and an assembly motor fixing seat and an assembly servo motor connected with the assembly motor fixing seat are arranged at the head part of the grouping assembly plate;
a servo motor is arranged on the upper part of a branch assembly plate in the linear driving assembly, the servo motor is connected with a motor fixing seat, an assembly lead screw is connected onto the motor fixing seat, a nut fixing seat penetrates through the assembly lead screw, the nut fixing seat is connected with a hook hinge, the hook hinge rotates around a hook hinge shaft cover, the hook hinge also rotates around a hook hinge support shaft, the hook hinge support shaft is arranged on a hook hinge support seat, and the hook hinge support seat is arranged on a fixed rack; the lower part of the linear driving component is connected with a revolute pair component, the revolute pair component is connected with the linear driving component through a branch revolute head, the revolute pair component is internally connected with a branch revolute cross frame through a revolute pin shaft, and the branch revolute cross frame is connected to a movable support platform;
the two side surfaces of the movable support platform are symmetrically connected with the first branch component and the second branch component, the other side surface of the movable support platform is connected with the third branch component, a main shaft fixing seat is arranged below the center of a shaft hole of the movable support platform, and a carving main shaft is arranged on the main shaft fixing seat; under the combined action of the three branch assemblies, the carving main shaft on the movable support platform can realize vertical movement in the Z-axis direction; when the screw rods of the first branch assembly and the second branch assembly move reversely, the rotation of the engraving main shaft around the X axis can be realized, and when the first branch assembly and the second branch assembly stop moving, the screw rod of the third branch assembly can drive the engraving main shaft to generate the traction movement in the X direction.
Compared with the prior art, the invention has the following advantages: (1) compared with the traditional five-axis engraving machine, the five-axis engraving machine has the advantages of simple structure, high modularization degree, working spaces with the same size and relatively small mechanism volume; (2) the parallel mechanism and the series mechanism are in series-parallel connection, so that error accumulation caused by the series mechanism is reduced; (3) the parallel mechanism has simple assembly relation of all movement axes, and the processing and manufacturing process of all parts is easy; (4) the five-axis engraving machine has the same complex curved surface processing capacity as the traditional five-axis engraving machine, and does not need to manually install and disassemble engraving pieces; (5) the parallel mechanism is matched with the two-degree-of-freedom processing table to realize five-axis carving and independent movement, so that interference in the carving process is avoided; therefore, the method is suitable for processing complex curved surfaces in the field of engraving, manufacturing industry and the like, and has a wide application prospect.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Description of the drawings:
fig. 1 is a schematic overall structure diagram of a series-parallel engraving machine according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a parallel mechanism in a series-parallel engraving machine according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a first branch assembly and a second branch assembly of a parallel mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a third branch assembly of the parallel mechanism according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a two-degree-of-freedom processing table in a series-parallel engraving machine according to an embodiment of the present invention;
fig. 6 is a schematic cross-sectional view of a two-degree-of-freedom processing table in a series-parallel engraving machine according to an embodiment of the present invention;
in the figure: 1: a first branch assembly; 2: a second branch assembly; 3: a third branch assembly; 4: engraving a main shaft; 5, moving the support table; 6: a main shaft fixing seat; 7: a fortune wheel; 8: moving the base; 9: a linear sliding table; 10: a rocking mechanism; 11: fixing the frame; 12: a two-degree-of-freedom processing table; 13: hooke's joint; 14: a rotating frame; 15: a compound hinge; 16: a revolute pair assembly; 17: linear drive assembly 101: a servo motor; 102: a branch assembly plate; 103: an assembly lead screw; 104: a hook hinge support base; 105: a hook hinge support shaft; 106 branch rotating heads; 107; a motor fixing seat; 108; a slide rail; 109: a hook hinge shaft cover; 110: a nut fixing seat; 111: a bearing seat; 112: rotating the pin shaft; 113 branch rotating cross frame; 301: a servo motor; 302: a rotating shaft cover; 303: a third branch head; 304: compounding and connecting the frame; 305: a composite movable transverse frame; 901: a sliding table lead screw; 902: a left support seat; 903: a rotating plate; 904: a slider; 905: a machining workbench; 906: a right support seat; 907: a servo motor; 908: a planetary reducer; 909: moving the carrier; 910: a slide plate; 911: a servo motor; 912: a motor fixing seat; 913: a left support shaft; 914: a nut fixing seat; 915: rotating the substrate; 916: a right support shaft; 917: supporting the adjusting block; 918: a right support seat end cover; 919: and swinging the bottom plate.
The specific implementation mode is as follows:
the embodiments of the present invention will be described below with reference to the drawings and examples.
Embodiments of the present invention will be described below, wherein the embodiments described by way of the drawings are illustrative and are only intended to explain the present invention, but not to limit the present invention.
In the embodiment of the invention, as shown in fig. 1, a vertical series-parallel carving machine comprises a parallel mechanism, a fixed frame 11, a movable base 8 and a two-degree-of-freedom processing table 9; the parallel mechanism comprises a first branch component 1, a second branch component 2, a third branch component 3, a movable supporting table 5, a spindle fixing seat 6 and an engraving spindle 4.
The first grouping component 1 and the second branch component 2 have the same structure, the first grouping component 1 is connected with the fixed frame 11 through a Hooke hinge 13, and is hinged with the movable support table 5 through a revolute pair component 16; the second branch subassembly is the same, and third branch subassembly 3 is connected with fixed frame 11 through rotating turret 14, and is articulated with movable supporting bench 5 through compound hinge 15, and movable supporting bench 5 will carve main shaft 4 and fix on it through main shaft fixing base 6, forms parallel mechanism up to this point.
The parallel mechanism is fixedly connected to a fixed frame 11, a two-degree-of-freedom machining table 12 is arranged below the fixed frame 11, the two-degree-of-freedom machining table 12 comprises a linear sliding table 9 and a swinging mechanism 10 installed on the linear sliding table 9, the fixed frame 11 is installed on a movable base 8, a horsewheel 7 is installed below the movable base 8, and front-back, left-right and plane movement can be achieved.
In the embodiment of the present invention, as shown in fig. 3, the first subassembly 1 includes a linear driving assembly 17, a hooke joint 13, and a revolute pair assembly 16; the upper part of a branch component plate 102 in a linear driving component is provided with a servo motor 101, the servo motor 101 is connected with a motor fixing seat 107, the motor fixing seat is connected with a component screw rod 103, the component screw rod 103 passes through a nut fixing seat 110, two ends of the nut fixing seat 110 are hinged on a Hooke hinge 13, the Hooke hinge can rotate around a Hooke hinge shaft cover 109, the Hooke hinge 13 can also rotate around a Hooke hinge support shaft 105, the Hooke hinge support shaft is arranged on a Hooke hinge support seat 104, the Hooke hinge support seat 104 is arranged on a fixed frame 11, under the rotation of the servo motor 101, the branch component plate 102, a branch rotating head 106 and the like of the linear driving component are driven to move along the axial direction of the component screw rod 103, in addition, the lower part of the linear driving component 17 is connected with a rotating pair component 16, the rotating pair component 16 is connected with the linear driving component 17 through the branch rotating head 106, the rotating pair component is connected with a branch rotating cross frame 113 through a, the branch turning cross 113 is connected to the movable support table 5.
In the embodiment of the present invention, as shown in fig. 4, the third subassembly 3 includes a linear driving assembly 17 (the linear driving assembly of the third subassembly 3 is the same as the linear driving assembly 17 of the first and second subassemblies), a rotating frame 14, and a compound hinge 15; the nut fixing seat 110 of the linear driving assembly 17 is connected to the fixed frame 11 through the rotating frame 14 (the rotating frame 14 is in a groove shape, two side parts of the nut fixing seat 110 are hinged to the inner wall of the groove, the rotating frame 14 is fixed on the fixed frame 11), the rotating frame 14 can rotate around the axis of the rotating shaft cover, the lower part of the linear driving assembly 17 is connected to the movable supporting table 5 through the composite hinge 15, the composite hinge 15 is connected with the linear driving assembly 17 through the third branch head 303, the composite hinge 15 is connected with the composite movable cross frame 305 through the composite connecting frame 304 in a hinged mode, and the composite movable cross frame 305 is connected to the movable supporting table 5.
The above-mentioned branch subassembly board 102 is equipped with the slide rail, is equipped with the spacing slider that slides with the slide rail cooperation on nut fixing base 110, and the both sides portion of nut fixing base 110 articulates on the inslot wall to under the rotation of subassembly lead screw 103, branch subassembly board 102, servo motor 101, branch rotate head 106 (or third branch head 303) be relative nut fixing base 110 axial displacement promptly, the both ends of subassembly lead screw 103 articulate in the block at branch subassembly board 102 both ends.
In the embodiment of the invention, as shown in fig. 2, two side surfaces of a movable supporting platform 5 are symmetrically connected with a first branch component 1 and a second branch component 2, and the other side surface is connected with a third branch component 3, a spindle fixing seat 6 is installed below the center of a shaft hole of the movable supporting platform 5, a carving spindle 4 is arranged on the spindle fixing seat 6, and under the combined action of the three branch components, the carving spindle 4 on the movable supporting platform 5 can realize vertical movement in the Z-axis direction; when the component screw rods of the first branch component 1 and the second branch component 2 rotate oppositely, the rotation of the engraving main shaft 4 around the X axis can be realized, and when the first branch component 1 and the second branch component 2 stop moving, the screw rod of the third branch component 3 can drive the engraving main shaft 4 to generate linkage movement in the X axis direction, namely drive the engraving main shaft 4 to move along the X axis, and meanwhile, the engraving main shaft can rotate relative to the Hooke hinge support shaft 105 (equivalent to the Y axis).
In the embodiment of the present invention, as shown in fig. 5, the two-degree-of-freedom machining table 12 includes a swing mechanism 10 and a linear sliding table 9, the linear sliding table includes a sliding plate 910, a motor fixing seat 912, a servo motor 911, a sliding table lead screw 901, a nut fixing seat 914, a slider 904, and a movable stage 909, the sliding plate 910 in the linear sliding table 9 is connected to the motor fixing seat 912, the motor fixing seat 912 is fixed with the servo motor 911, the sliding table lead screw 901 connected to a shaft hole of the motor fixing seat 912 drives the nut fixing seat 914 thereon to move under the driving of the servo motor 911, the nut fixing seat 914 and the slider 904 are fixedly connected to the movable stage 909, the movable stage is connected to the swing mechanism 10, and the slider moves on the sliding rail of the linear sliding table 9, so as to realize the movement of the swing mechanism.
In the embodiment of the present invention, as shown in fig. 5 to 6, the swing mechanism 10 includes a swing base plate 919, a support adjusting block 917, a left support seat, a right support seat, a servo motor 907, a planetary reducer 908, a rotating plate 903, a rotating base plate 915, and a processing table 905; the servo motor 907 in the swing mechanism 10 is connected to the planetary reducer 908, the planetary reducer 908 is mounted on the right support base 906, the left support base and the right support base are arranged on the support adjusting block 917, the support adjusting block 917 is fixed on the swing bottom plate 919, the rotation of the servo motor 907 drives the left support shaft 913 and the right support shaft 916 to rotate through the planetary reducer 908, the left support shaft 913 and the right support shaft 916 are fixedly connected with the rotating plate 903, the rotating plate 903 is driven to rotate, the rotating plate 903 rotates to drive the rotating base plate 915 connected to the rotating plate to rotate, and the machining workbench 915 is arranged on the rotating base plate 915, so that the machining workbench 915 on the swing mechanism rotates around the right support shaft, namely the rotation around the Y axis is achieved, and the swing mechanism rotates around the Y axis and moves along the Y axis.
Finally, the vertical series-parallel carving machine can realize the 5-axis processing capacity under the combined cooperation of the parallel mechanism and the two-degree-of-freedom processing table, so that the vertical series-parallel carving machine has a wide application prospect in the field of carving.
The invention is not limited to the above preferred embodiments, and various other vertical series-parallel engravers can be obtained according to the teaching of the invention. All equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.
Claims (10)
1. The utility model provides a vertical series-parallel engraver which characterized in that: comprises a parallel mechanism, a fixed frame (11), a movable base (8) and a two-degree-of-freedom processing table (12); the parallel mechanism comprises a first branch component (1), a second branch component (2), a third branch component (3), a movable support table (5), a main shaft fixing seat (6) and a carving main shaft (4); a fixed frame (11) is arranged on the movable base (8); the fixed frame (11) is provided with a parallel mechanism and a two-degree-of-freedom processing table (12) arranged on a lower bottom plate of the fixed frame; the two-degree-of-freedom machining table comprises a linear sliding table (9) and a swinging mechanism (10) arranged on the linear sliding table.
2. The vertical series-parallel engraver of claim 1, wherein: the first branch assembly (1) and the second branch assembly (2) have the same structure and respectively comprise a linear driving assembly (17), a Hooke joint (13) and a revolute pair assembly (16); the Hooke hinge (13) comprises a Hooke hinge support seat (104), a Hooke hinge support shaft (105), a Hooke hinge frame and a Hooke hinge shaft cover (109), the upper part of the linear driving component (17) is connected with the fixed rack (11) through the Hooke hinge (13), the lower part of the linear driving component (17) is connected with the movable support platform (5) through a revolute pair component (16), the revolute pair component (16) comprises a branch revolute head (106), a branch revolute cross frame (113) and a revolute pin shaft (112) for hinging the branch revolute head (106) and the branch revolute cross frame (113), a branch component plate (102) is arranged in the linear driving component (17), a component lead screw (103) is arranged on the component lead screw (103), a nut fixing seat (110) is arranged on the component lead screw (103), the nut fixing seat (110) is connected with a component sliding block, and two sliding rails are arranged on the branch component plate (102), the head of the grouping component board (102) is provided with a component motor fixing seat (107) and a component servo motor (101) connected with the component motor fixing seat.
3. The vertical series-parallel engraver of claim 2, wherein: the third branch component comprises a linear driving component (17), a rotating frame (14) and a composite hinge (15); the linear driving assembly (17) is connected with the fixed rack (11) through a rotating frame (14), and the lower part of the revolute pair assembly (16) is connected with the movable support platform (5) through a composite hinge (15); the composite hinge comprises a third branch head (303), a composite connecting frame (304), a composite movable transverse frame (305) and a pin shaft for hinging the composite connecting frame (304) and the composite movable transverse frame (305).
4. The vertical series-parallel engraver of claim 3, wherein: the center of the movable support table is provided with a through hole and a main shaft fixing seat (4) arranged in the through hole, and the carving main shaft (6) is fixedly arranged in the main shaft fixing seat; the side surfaces of the periphery of the movable support platform are connected with a revolute pair assembly (16) and a composite hinge (15); and then the first branch component, the second branch component and the third branch component are connected to form a space closed-loop mechanism.
5. The vertical series-parallel engraver of claim 1, wherein: the linear sliding table comprises a sliding plate (910), a sliding block (904), a guide rail, a motor base (912), a servo motor (911), a movable carrying table (909), a sliding table lead screw (901), a nut fixing base (914) and a bearing base; the sliding plate (910) is provided with a guide rail, the sliding block (904) is slidably mounted on the guide rail, the sliding block is connected with a nut fixing seat (914), the sliding table lead screw (901) penetrates through the nut fixing seat (914), and the nut fixing seat is connected with a movable carrying platform (909); a motor base is arranged at the tail of the sliding plate (910), a servo motor (911) is connected to the motor base, and a sliding table lead screw (901) penetrates through a bearing base to be installed on the sliding plate (910); a swing mechanism is mounted on the movable stage (909).
6. The vertical series-parallel engraver of claim 1 or 5, wherein: the swing mechanism comprises a swing bottom plate (919), a support adjusting block (917), a left supporting seat (913), a right supporting seat (906), a rotating plate (903), a planetary reducer (908), a servo motor (907), a rotating base plate (915) and a processing workbench (905); a swinging bottom plate (919) is arranged on the movable carrying platform (909), a supporting adjusting block (917) is connected on the swinging bottom plate (919), a left supporting seat and a right supporting seat are arranged on the supporting adjusting block (917), a rotating plate (903) is connected on the left supporting seat and the right supporting seat, and a rotating substrate (915) is arranged on the rotating plate (903); a processing workbench (905) is arranged on the rotating base plate (915); the processing workbench is used for clamping the carving piece.
7. The vertical series-parallel engraver of claim 1, wherein: the lower part of the movable base is provided with a horse wheel, and the fixed frame is arranged on the movable base.
8. The vertical series-parallel engraver of claim 4, wherein: the upper part of a branch component plate (102) in the linear driving component is provided with a servo motor (101), the servo motor (101) is connected with a motor fixing seat (107), the motor fixing seat is connected with a component lead screw (103), the component lead screw (103) penetrates through a nut fixing seat (110), the nut fixing seat (110) is connected with a Hooke hinge (13), the Hooke hinge rotates around a Hooke hinge shaft cover, the Hooke hinge (13) also rotates around a Hooke hinge support shaft (105), the Hooke hinge support shaft is arranged on a Hooke hinge support seat (104), the Hooke hinge support seat (104) is arranged on a fixed rack (11), the lower part of the linear driving component (17) is connected with a revolute pair component (16), the revolute pair component (16) is connected with the linear driving component (17) through a branched revolute head (106), and the revolute pair component is connected with a branched revolute cross frame (113) through a revolute pin (112), the branch rotating cross frame (113) is connected to the movable support platform (5).
9. The working method of the vertical series-parallel carving machine is characterized in that: the vertical series-parallel carving machine comprises a parallel mechanism, a fixed rack, a movable base and a two-degree-of-freedom processing table; the parallel mechanism comprises a first branch component, a second branch component, a third branch component, a movable support table, a main shaft fixing seat and a carving main shaft; a fixed frame is arranged on the movable base; the fixed frame is provided with a parallel mechanism and a two-degree-of-freedom processing table arranged on a lower bottom plate of the fixed frame; the two-degree-of-freedom machining table comprises a linear sliding table and a swinging mechanism arranged on the linear sliding table; the carving main shaft is realized through a parallel mechanism fixed on a fixed frame: the rotation of the two shafts and the translation of the two shafts; the arranged processing workpieces are realized through a two-degree-of-freedom processing table: rotation of a shaft and translation of the shaft.
10. The method of operating a vertical series-parallel engraver as claimed in claim 9, wherein:
the first branch assembly (1) and the second branch assembly (2) have the same structure and respectively comprise a linear driving assembly (17), a Hooke joint (13) and a revolute pair assembly (16); the Hooke hinge (13) comprises a Hooke hinge support seat (104), a Hooke hinge support shaft (105), a Hooke hinge frame and a Hooke hinge shaft cover (109), the upper part of the linear driving component (17) is connected with the fixed rack (11) through the Hooke hinge (13), the lower part of the linear driving component (17) is connected with the movable support platform (5) through a revolute pair component (16), the revolute pair component (16) comprises a branch revolute head (106), a branch revolute cross frame (113) and a revolute pin shaft (112) for hinging the branch revolute head (106) and the branch revolute cross frame (113), a branch component plate (102) is arranged in the linear driving component (17), a component lead screw (103) is arranged on the component lead screw (103), a nut fixing seat (110) is arranged on the component lead screw (103), the nut fixing seat (110) is connected with a component sliding block, and two sliding rails are arranged on the branch component plate (102), the head of the grouping component board (102) is provided with a component motor fixing seat (107) and a component servo motor (101) connected with the component motor fixing seat;
the upper part of a branch component plate (102) in the linear driving component is provided with a servo motor (101), the servo motor (101) is connected with a motor fixing seat (107), the motor fixing seat is connected with a component lead screw (103), the component lead screw (103) penetrates through a nut fixing seat (110), the nut fixing seat (110) is connected with a Hooke hinge (13), the Hooke hinge rotates around a Hooke hinge shaft cover, the Hooke hinge (13) also rotates around a Hooke hinge support shaft (105), the Hooke hinge support shaft is arranged on a Hooke hinge support seat (104), the Hooke hinge support seat (104) is arranged on a fixed rack (11), the lower part of the linear driving component (17) is connected with a revolute pair component (16), the revolute pair component (16) is connected with the linear driving component (17) through a branched revolute head (106), and the revolute pair component is connected with a branched revolute cross frame (113) through a revolute pin (112), the branch rotating cross frame (113) is connected to the movable support platform (5);
the two side surfaces of the movable supporting platform (5) are symmetrically connected with the first branch component (1) and the second branch component (2), the other side surface is connected with the third branch component (3), a main shaft fixing seat (6) is installed below the center of a shaft hole of the movable supporting platform (5), and the main shaft (4) is arranged on the main shaft fixing seat (6); under the combined action of the three branch assemblies, the carving main shaft (4) on the movable support table (5) can realize vertical movement in the Z-axis direction; when the screw rods of the first branch assembly (1) and the second branch assembly (2) move reversely, the rotation of the engraving main shaft (4) around an X axis can be realized, and when the first branch assembly (1) and the second branch assembly (2) stop moving, the screw rod of the third branch assembly (3) can drive the engraving main shaft (4) to generate the traction movement in the X direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010379236.6A CN111438539B (en) | 2020-05-07 | 2020-05-07 | Vertical series-parallel engraving machine and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010379236.6A CN111438539B (en) | 2020-05-07 | 2020-05-07 | Vertical series-parallel engraving machine and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111438539A true CN111438539A (en) | 2020-07-24 |
| CN111438539B CN111438539B (en) | 2024-06-04 |
Family
ID=71654951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010379236.6A Active CN111438539B (en) | 2020-05-07 | 2020-05-07 | Vertical series-parallel engraving machine and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111438539B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104553558A (en) * | 2015-02-05 | 2015-04-29 | 沈阳建筑大学 | Carving machine with series-parallel structure |
| CN104827405A (en) * | 2015-05-22 | 2015-08-12 | 安徽理工大学 | Series-parallel water jet carving robot with six degrees of freedom |
| CN109383174A (en) * | 2018-11-06 | 2019-02-26 | 昆明理工大学 | A kind of two-dimensional shift and one-dimensional rotation mixed connection engraving machine |
| WO2019091425A1 (en) * | 2017-11-10 | 2019-05-16 | 燕山大学 | Few-joint over-constrained five-freedom-degree hybrid connection robot |
| CN212217783U (en) * | 2020-05-07 | 2020-12-25 | 福州大学 | Vertical series-parallel carving machine |
-
2020
- 2020-05-07 CN CN202010379236.6A patent/CN111438539B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104553558A (en) * | 2015-02-05 | 2015-04-29 | 沈阳建筑大学 | Carving machine with series-parallel structure |
| CN104827405A (en) * | 2015-05-22 | 2015-08-12 | 安徽理工大学 | Series-parallel water jet carving robot with six degrees of freedom |
| WO2019091425A1 (en) * | 2017-11-10 | 2019-05-16 | 燕山大学 | Few-joint over-constrained five-freedom-degree hybrid connection robot |
| CN109383174A (en) * | 2018-11-06 | 2019-02-26 | 昆明理工大学 | A kind of two-dimensional shift and one-dimensional rotation mixed connection engraving machine |
| CN212217783U (en) * | 2020-05-07 | 2020-12-25 | 福州大学 | Vertical series-parallel carving machine |
Non-Patent Citations (1)
| Title |
|---|
| 顾若波;刘勇兰;姜铭;: "五轴联动数控雕刻机结构设计仿真", 机械研究与应用, no. 05 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111438539B (en) | 2024-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104772628B (en) | A kind of freedom degree parallel connection mainshaft head mechanism | |
| CN201823983U (en) | Gantry five-axis linkage numerical control machining tool | |
| CN203527458U (en) | Six-coordinate multifunctional assembling and disassembling mechanical arm | |
| CN212217783U (en) | Vertical series-parallel carving machine | |
| CN206382850U (en) | A kind of new double column milling car Compositions of metal-working machines | |
| CN110774015B (en) | Series-parallel machine tool with overconstrained few-degree-of-freedom parallel modules and movement method | |
| CN109877807A (en) | One kind (2PRU-PUR)-PP five-axle linkage series-parallel robot | |
| CN112571068A (en) | Horizontal five-axis turning and milling composite machining center with opposite double main shafts | |
| CN113211397A (en) | Automatic numerical control rotary worktable that overturns of double-screw drive | |
| CN109514258B (en) | Curved surface five-axis cutting and surface spray painting composite treatment tool | |
| CN112317776A (en) | Novel numerical control polyhedron center | |
| CN110695716A (en) | Five-freedom-degree redundant drive hybrid machine tool for machining complex curved surface of large workpiece | |
| CN103950335A (en) | Multi-station spindle-swinging-type five-axis numerical control engraving and milling machine | |
| CN213561298U (en) | Five-freedom-degree series-parallel machine tool for machining large-area workpieces | |
| CN113427368A (en) | Intelligent grinding and polishing system with automatically replaced tool for complex curved surface robot and control method | |
| CN104625198A (en) | Three-degree-of-freedom parallel mechanism and machine tool adopting same | |
| CN111360552A (en) | Seven-axis machine tool | |
| CN109108671B (en) | Five-axis parallel-serial machine tool for processing cylindrical parts | |
| CN111438539A (en) | Vertical series-parallel carving machine and working method thereof | |
| CN203876459U (en) | Multistation spindle swing type five-axis numerical-control engraving and milling machine tool | |
| CN210588153U (en) | Series-parallel connection perpendicularity self-adjustment five-axis linkage numerical control machine tool structure | |
| CN212762140U (en) | Seven-axis machine tool | |
| CN209887586U (en) | (2PRU-PUR) -PP five-axis linkage hybrid robot | |
| CN211219637U (en) | Parallel-serial machine tool with over-constrained parallel modules with few degrees of freedom | |
| CN108526923B (en) | Seven-axis numerical control drilling and milling machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20221124 Address after: Fuzhou University, No.2, wulongjiang North Avenue, Fuzhou University Town, Minhou County, Fuzhou City, Fujian Province Applicant after: FUZHOU University Applicant after: XIAMEN WINJOIN TECHNOLOGY CO.,LTD. Address before: Fuzhou University, No.2, wulongjiang North Avenue, Fuzhou University Town, Minhou County, Fuzhou City, Fujian Province Applicant before: FUZHOU University |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |