CN1114516C - Five-coordinate numerally controlled machine tool based on 3-freedom parallel mechanism - Google Patents
Five-coordinate numerally controlled machine tool based on 3-freedom parallel mechanism Download PDFInfo
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- CN1114516C CN1114516C CN 00123341 CN00123341A CN1114516C CN 1114516 C CN1114516 C CN 1114516C CN 00123341 CN00123341 CN 00123341 CN 00123341 A CN00123341 A CN 00123341A CN 1114516 C CN1114516 C CN 1114516C
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- parallel mechanism
- freedom parallel
- controlled machine
- workbench
- guide rail
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Abstract
The present invention relates to a five-coordinate digital control machine tool based on a three degree of freedom paralleling mechanism, composed of a three degree of freedom paralleling mechanism, a frame of a gantry crane and a workbench which is installed on a bed body, wherein the three degree of freedom paralleling mechanism is installed on the frame of a gantry crane through a slideway, and composed of a three transmission rods, a motion platform which is provided with a main shaft of a cutter, guide rails, etc. One end of the transmission rods is installed on the motion platform through a spherical hinge. The other end of the transmission rods is connected with slide blocks through a rotary pair. The slide blocks are respectively installed on the guide rails. One end of each of the guide rails is respectively and obliquely installed on a fixed platform. The other end of each of the guide rails is mutually and fixedly connected together. The slideway is arranged in the direction of an X shaft between the workbench and the bed body. The present invention has the advantages of simple structure, high micromotion precision and big operating space.
Description
Technical field
The present invention relates to a kind of machinery manufacturing industry process equipment, specifically be based on the five-coordinate numerally controlled machine tool of 3-freedom parallel mechanism.
Background technology
Existing lathe, series is complete, various in style.Its structure mainly is made up of lathe bed, column, guide rail and crossbeam etc., mostly is cascaded structure.The shortcoming of this class lathe is that mechanism's heaviness, parts are many, transmission chain length, bulky, complex structure, involve great expense, and shows on the gang tool especially.The lathe each several part is stressed, thermal deformation is inhomogeneous, and the effect of tensile, compressive, bending in process, torsion and moment makes lathe produce vibration, and the result causes machining accuracy to reduce.In addition, parts are heavy, volume is big, limited the raising of cutting process medium velocity and acceleration.Since the nineties, some research institutions have released the parallel machine that utilizes parallel institution merely both at home and abroad, but its working space is less, has limited its application.
Summary of the invention
For solving above-mentioned deficiency, it is flexible that the present invention's purpose provides a kind of mechanism, simple in structure, fine motion precision height, the big five-coordinate numerally controlled machine tool based on 3-freedom parallel mechanism in operating space, it can realize the processing to complex profile and various abnormal curved surfaces, also can be used as the multi-coordinate measuring machine and uses.
The object of the present invention is achieved like this: it comprises lathe bed, by 3-freedom parallel mechanism, gantry frame, the workbench that is installed on the lathe bed is formed, wherein 3-freedom parallel mechanism is installed on the gantry frame by slideway, by three drive links, motion platform, slide block, guide rail, fixed platform is formed, described drive link one end is installed on the motion platform by ball pivot, the other end links to each other with slide block by revolute pair, slide block is installed on the guide rail respectively, guide rail one end is installed together with fixed platform respectively, the other end is fixed together mutually, and described motion platform is provided with cutter spindle; Be provided with slide rail between described workbench and the lathe bed;
In addition, described slide block is connected with linear electric motors, or is connected by the rotating electric machine of nut with the band ball-screw; Described guide rail and fixed platform can be vertical or be tilted to install; Slide rail can be annular or is the line slide rail along X-axis between described workbench and lathe bed.
The present invention except simple in structure, cost is low, volume also has following advantage little:
1. machining accuracy height.The present invention utilizes 3-freedom parallel mechanism to realize that A, B double pendulum and the Z of cutter spindle are to moving its tooling system rigidity height, strong, the fine motion precision height of load capacity;
2. the operating space is big.The present invention separates the Y-axis in-movement and the X-axis front and back feed motion of cutter spindle from motion platform, respectively by 3-freedom parallel mechanism on gantry frame move back and forth and the reciprocating motion of workbench realizes, expanded the working space of lathe, make handiness, clamping flexible simultaneously, can realize five dimension operations;
3. applied range.The present invention is strong to the adaptability of workpiece, and its processing object can be that the plane also can be a curved surface, can realize milling, processes such as brill, mill, polishing, also can be used as the multi-coordinate measuring machine and uses.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is another embodiment of the present invention structural representation;
Fig. 3 is the third embodiment of the invention structural representation;
Fig. 4 is the four embodiment of the invention structural representation;
Fig. 5 is the coordinate direction figure of operation principle of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail:
Embodiment 1:
As Fig. 1, shown in 5, for the present invention is based on the five-coordinate numerally controlled machine tool structural representation of 3-freedom parallel mechanism, by 3-freedom parallel mechanism 1, gantry frame 2, the workbench 3 that is installed on the lathe bed 4 is formed, wherein 3-freedom parallel mechanism 1 is installed on gantry frame 2 entablatures by slideway, by three drive links 12, motion platform 14, slide block 16, guide rail 17, fixed platform 18 is formed, described drive link 12 1 ends are installed on the motion platform 14 by ball pivot 13, the other end links to each other with slide block 16 by revolute pair, slide block 16 is installed in respectively on the guide rail 17, guide rail 17 1 ends tilt to install respectively with in the motion platform 14, the other end is fixed together mutually, three guide rail 17 junctions form a plane, and described motion platform 14 is provided with cutter spindle 15; Be provided with slideway in X-direction between described workbench 3 and the lathe bed 4, workbench 3 is done horizontal movement on X-direction along slideway; Described slide block 16 is connected with linear electric motors.
Its operation principle is:
As shown in Figure 5, the slide block 16 that is driven by linear electric motors moves on guide rail 17, and slide block 16 drives each drive link 12; Motion platform 14 obtains two rotational freedoms and an one-movement-freedom-degree under the driving of each drive link 12, promptly around rotational freedom A, the B of X-axis and Y-axis and along the upper and lower one-movement-freedom-degree of Z axle.3-freedom parallel mechanism 1 is installed on gantry frame 2 crossbeams by slideway, it can make traverse motion at Y direction upper edge crossbeam slideway under motor-driven, workpiece to be machined is fixed in and can does on the workbench 3 of front-rear reciprocation movement in driven by servomotor lower edge X-direction, cutter spindle is fixedly mounted on the motion platform 14 of 3-freedom parallel mechanism 1, thereby realize that (X-axis moves cutter spindle relative to five coordinate feed motions of workpiece, y-axis shift is moving, the Z axle moves, the A axle rotates, and the B axle rotates).
Embodiment 2:
As shown in Figure 2, difference from Example 1 of the present invention is: the slide rail that described workbench 3 and lathe bed are 4 is annular, workbench 3 rotates on bed piece 4, so workbench 3 usefulness have replaced moving back and forth along the front and back of X-direction around rotatablely moving of Z-direction, thereby realize cutter spindle (workpiece relatively) work five coordinate motions, that is: y-axis shift is moving, the Z axle moves, the A axle rotates, and the B axle rotates, and the C axle rotates.
Embodiment 3:
As shown in Figure 3, difference from Example 1 of the present invention is: described 3-freedom parallel mechanism 1 is installed on gantry frame 2 side uprights by slideway, guide rail 17 of the present invention also can with fixed platform 18 vertical installations, drive link 12 links to each other with slide block 16 with guide rail 17 inboards; Described slide block 16 is connected by the rotating electric machine of nut with the band ball-screw.
Embodiment 4
As shown in Figure 4, difference from Example 3 is: the slide rail that described workbench 3 and lathe bed are 4 is annular, and workbench 3 rotates on bed piece 4.
Guide rail 17 of the present invention also can with fixed platform 18 vertical installations, drive link 12 links to each other with slide block 16 with guide rail 17 inboards.
Claims (5)
1. five-coordinate numerally controlled machine tool based on 3-freedom parallel mechanism, comprise lathe bed, it is characterized in that: by 3-freedom parallel mechanism (1), gantry frame (2), the workbench (3) that is installed on the lathe bed (4) is formed, wherein 3-freedom parallel mechanism (1) is installed on the gantry frame (2) by slideway, by three drive links (12), motion platform (14), slide block (16), guide rail (17), fixed platform (18) is formed, described drive link (12) one ends are installed on the motion platform (14) by ball pivot (13), the other end links to each other with slide block (16) by revolute pair, slide block (16) is installed in respectively on the guide rail (17), guide rail (17) one ends are installed together with fixed platform (18) respectively, the other end is fixed together mutually, and described motion platform (14) is provided with cutter spindle (15); Be provided with slide rail between described workbench (3) and the lathe bed (4).
2. according to the described five-coordinate numerally controlled machine tool based on 3-freedom parallel mechanism of claim 1, it is characterized in that: described 3-freedom parallel mechanism (1) is installed on gantry frame (2) entablature or the side uprights by slideway.
3. according to the described five-coordinate numerally controlled machine tool based on 3-freedom parallel mechanism of claim 1, it is characterized in that: described slide block (16) is connected with linear electric motors, or is connected by the rotating electric machine of nut with the band ball-screw.
4. according to claim 1,2 or 3 described five-coordinate numerally controlled machine tools based on 3-freedom parallel mechanism, it is characterized in that: described guide rail (17) can the vertical or installation of tilting with fixed platform (18).
5. according to claim 1,2 or 3 described five-coordinate numerally controlled machine tools based on 3-freedom parallel mechanism, it is characterized in that: slide rail is annular or is the line slide rail along X-axis between described workbench (3) and lathe bed (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00123341 CN1114516C (en) | 2000-11-29 | 2000-11-29 | Five-coordinate numerally controlled machine tool based on 3-freedom parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00123341 CN1114516C (en) | 2000-11-29 | 2000-11-29 | Five-coordinate numerally controlled machine tool based on 3-freedom parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
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| CN1355083A CN1355083A (en) | 2002-06-26 |
| CN1114516C true CN1114516C (en) | 2003-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 00123341 Expired - Fee Related CN1114516C (en) | 2000-11-29 | 2000-11-29 | Five-coordinate numerally controlled machine tool based on 3-freedom parallel mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1951642B (en) * | 2005-10-17 | 2011-05-18 | 新日本工机株式会社 | Parallel kinematic machine, calibration method of parallel kinematic machine, and calibration program product |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100343646C (en) * | 2004-12-11 | 2007-10-17 | 燕山大学 | Environmental experimental platform for mechanical vibration with three freedom degrees |
| CN100411826C (en) * | 2005-11-11 | 2008-08-20 | 华南理工大学 | Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions |
| CN101380717B (en) * | 2008-09-03 | 2010-06-09 | 西安理工大学 | Machine tool module construction of double slider driven linkage mechanism capable of being angularly processed |
| CN101579828B (en) * | 2009-06-11 | 2011-09-14 | 清华大学 | Parallel 3-DOF drive mechanism of spindle head |
| CN103949957B (en) * | 2014-04-21 | 2017-01-18 | 清华大学 | Six-axis linkage hybrid connection device based on three-freedom-degree parallel mechanism |
| CN104259916A (en) * | 2014-09-15 | 2015-01-07 | 燕山大学 | Three-degree of freedom parallel type spindle head structure |
| CN108555618A (en) * | 2018-06-26 | 2018-09-21 | 哈尔滨工程大学 | A kind of six degree of freedom three coordinate measuring machine and the course of work |
| CN109348892A (en) * | 2018-10-16 | 2019-02-19 | 江苏大学 | A kind of tractor Three Degree Of Freedom gardening pruning head |
| CN109366212B (en) * | 2018-10-29 | 2019-11-12 | 洪华文 | A kind of installation transfer mechanism for lithium battery frame processing inside new-energy automobile |
-
2000
- 2000-11-29 CN CN 00123341 patent/CN1114516C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1951642B (en) * | 2005-10-17 | 2011-05-18 | 新日本工机株式会社 | Parallel kinematic machine, calibration method of parallel kinematic machine, and calibration program product |
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| CN1355083A (en) | 2002-06-26 |
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