CN112318182B - Five-degree-of-freedom series-parallel machine tool - Google Patents
Five-degree-of-freedom series-parallel machine tool Download PDFInfo
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- CN112318182B CN112318182B CN202011274285.XA CN202011274285A CN112318182B CN 112318182 B CN112318182 B CN 112318182B CN 202011274285 A CN202011274285 A CN 202011274285A CN 112318182 B CN112318182 B CN 112318182B
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- 230000000712 assembly Effects 0.000 claims abstract description 36
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- 229910052782 aluminium Inorganic materials 0.000 claims description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 230000000452 restraining effect Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 abstract description 18
- 238000010586 diagram Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
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- 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
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- 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
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
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Abstract
The invention discloses a five-degree-of-freedom parallel-serial machine tool, which comprises a base, a bracket, a workbench, a cutter rotating assembly, three movable slide block assemblies, three movable branched chains and two constraint branched chains, wherein the bracket is arranged on the base, two movable slide block assemblies are respectively arranged on the base along the directions of an X axis and a Y axis, and a third movable slide block assembly is arranged on the bracket along the direction of a Z axis; the three movable slide block assemblies are respectively connected with the workbench through three movable branched chains, the constraint ends of the two constraint branched chains are arranged on the workbench, and the fixed ends of the two constraint branched chains are arranged on the bracket; the cutter rotating assembly is arranged at the bottom of the workbench. The invention adopts the orthogonal three-degree-of-freedom moving parallel mechanism to connect the spherical surface with the orthogonal two-degree-of-freedom rotating parallel mechanism, so that the machine tool combines the advantages of the serial machine tool and the parallel machine tool, has large working space, strong bearing capacity, decoupling of initial assembly pose, large rotating range of the cutter and small moving inertia, and is suitable for processing complex curved surface parts.
Description
Technical Field
The invention relates to the field, in particular to a five-degree-of-freedom series-parallel machine tool.
Background
In recent years, the use of parallel mechanisms in machine tools has been continuously developed. The mechanical structure of the traditional machine tool mostly adopts a series mechanism, and the form has a larger working space, but has small bearing capacity, large motion inertia and easy error accumulation at the output end. Since the 90 s of the last century, parallel mechanisms have been applied to the field of machine tools by various nations due to the advantages of high rigidity, high precision, high bearing capacity and the like, and the superior properties of the parallel mechanisms are fully exerted, and parallel machine tools are also called virtual axis machine tools in the industry. However, parallel machine tools suffer from the disadvantage of smaller working space. The serial-parallel machine tool integrates the advantages of the serial machine tool and the parallel machine tool, meets the requirements of the machine tool at the present stage on the modern complex part machining, and provides a good scheme for the problems.
At present, most five-degree-of-freedom parallel-serial machine tools adopt a four-degree-of-freedom parallel mechanism to connect in series a single-degree-of-freedom rotary part, for example, a rotary processing head is connected in series with a workbench of the four-degree-of-freedom parallel mechanism or a rotary disk is connected in series with a static platform, wherein the representatives are as follows: a redundant driving five-axis linkage parallel-serial machine tool provided by patent 103240614A, a five-degree-of-freedom parallel-serial numerical control machine tool provided by patent 103252683a and a five-axis parallel-serial machine tool provided by patent 109108671a for machining cylindrical parts.
The main motion control of the five-degree-of-freedom parallel-serial machine tool is focused on the control of a four-degree-of-freedom parallel mechanism, the structure is complex, the design requirement is high, the control is not easy, and on the basis, only one single-degree-of-freedom part is connected in series, only a large-area cylindrical surface type workpiece or a small-range curved surface part can be processed, but a large-area complex curved surface workpiece can not be processed.
Disclosure of Invention
The invention aims to solve the problems of complex structure, high design requirement and difficult control of the existing five-degree-of-freedom parallel-serial machine tool, and provides the five-degree-of-freedom parallel-serial machine tool which has the advantages of simple structure, large working space, decoupling of initial assembly pose, large tool rotation range and small motion inertia.
The invention realizes the above purpose through the following technical scheme: a five-degree-of-freedom parallel-serial machine tool comprises a base, a bracket, a workbench, a cutter rotating assembly, three movable slide block assemblies, three movable branched chains and two constraint branched chains, wherein the bracket is arranged on the base, two movable slide block assemblies are respectively arranged on the base along the directions of an X axis and a Y axis, and a third movable slide block assembly is arranged on the bracket along the direction of a Z axis; the three movable slide block assemblies are respectively connected with the workbench through three movable branched chains, the constraint ends of the two constraint branched chains are arranged on the top surface of the workbench, and the fixed ends of the two constraint branched chains are arranged on the bracket; the cutter rotating assembly is arranged at the bottom of the workbench; the three movable slide block assemblies drive the whole formed by the workbench and the cutter rotating assembly to move in three degrees of freedom through three movement branched chains, and the three degrees of freedom of the workbench and the cutter rotating assembly are restrained by two restraint branched chains;
the three movable slide block assemblies are respectively an X-axis movable slide block assembly, a Y-axis movable slide block assembly and a Z-axis movable slide block assembly, the X-axis movable slide block assembly and the Y-axis movable slide block assembly are fixed on the base through two angle steels, and the moving direction of the X-axis movable slide block assembly and the moving direction of the Y-axis movable slide block assembly are mutually perpendicular; the Z-axis moving slide block assembly is vertically arranged on the bracket through a first rib plate which is vertically arranged, and the moving direction of the slide block of the Z-axis moving slide block assembly is vertical to the plane in which the moving direction of the slide block of the X-axis moving slide block assembly and the moving direction of the Y-axis moving slide block assembly are positioned;
The structure of the three moving branched chains is identical, the three moving branched chains are respectively an X-axis moving branched chain, a Y-axis moving branched chain and a Z-axis moving branched chain, the X-axis moving slide block assembly is connected with the side surface of the workbench through the X-axis moving branched chain, the Y-axis moving slide block assembly is connected with the side surface of the workbench through the Y-axis moving branched chain, the Z-axis moving slide block assembly is connected with the top surface of the workbench through the Z-axis moving branched chain, the moving branched chain comprises a first fixed rod, a second fixed rod and a third fixed rod, one end of the first fixed rod is connected with the moving end of the moving slide block assembly, the other end of the first fixed rod is connected with one end of the second fixed rod through a Hooke hinge, and the other end of the second fixed rod is connected with one end of the third fixed rod through a Hooke hinge;
The two constraint branched chains are respectively an X-axis constraint branched chain and a Y-axis constraint branched chain, the X-axis constraint branched chain constrains the movement of the workbench when the X-axis motion branched chain is driven to work by the X-axis motion branched chain, and the Y-axis constraint branched chain constrains the movement of the workbench when the Y-axis motion branched chain is driven to work by the Y-axis motion branched chain; the constraint branched chain comprises a round guide rod, a constraint rod and a fourth fixed rod, wherein the bottom of the fourth fixed rod is fixed on the top surface of the workbench, the upper end of the fourth fixed rod is connected with the lower end of the constraint rod through a Hooke hinge, a guide groove is formed in the constraint rod, the round guide rod is fixed on the support, the round guide rod penetrates through the guide groove in the constraint rod, and the guide groove in the constraint rod is tangent to the round guide rod; the round guide rod of the X-axis constraint branched chain is horizontally arranged perpendicular to the movement direction of the X-axis movement branched chain, and the round guide rod of the Y-axis constraint branched chain is horizontally arranged perpendicular to the movement direction of the Y-axis movement branched chain;
The cutter rotating assembly comprises an X-axis rotating branched chain, a Y-axis rotating branched chain, a Z-axis constraint rod, a quasi-positioning platform, a quasi-moving platform, a cutter, an aluminum profile and two fourth movable slide block assemblies, wherein the quasi-positioning platform is fixed at the bottom of the workbench through three aluminum profiles which are perpendicular to the quasi-positioning platform; the two fourth movable slide block assemblies are vertically fixed on the quasi-fixed platform; one end of the X-axis rotary branched chain is connected to a slide block of one fourth movable slide block assembly, and the other end of the X-axis rotary branched chain is connected with the quasi-movable platform; one end of the Y-axis rotary branched chain is connected to a slide block of the other fourth movable slide block assembly, and the other end of the Y-axis rotary branched chain is connected to the quasi-movable platform; one end of the Z-axis constraint rod is hinged to the quasi-motion platform, and the other end of the Z-axis constraint rod is hinged to the quasi-motion platform; the direction of the hinge axis of the Z-axis constraint rod and the direction of the hinge axis of the quasi-moving platform are mutually perpendicular to the direction of the motion of the sliding block of the fourth moving sliding block assembly connected with the X-axis rotating branched chain, and the direction of the hinge axis of the Z-axis constraint rod and the direction of the hinge axis of the quasi-moving platform are mutually perpendicular to the direction of the motion of the sliding block of the fourth moving sliding block assembly connected with the Y-axis rotating branched chain; the cutter is fixed at the bottom of the quasi-motion platform; the two fourth movable slide block assemblies drive the whole composed of the accurate moving platform and the cutter to move through the X-axis rotary branched chain and the Y-axis rotary branched chain, and the Z-axis constraint rod constrains the whole moving direction composed of the accurate moving platform and the cutter.
Further, the movable sliding block assembly comprises a first base plate, a first servo motor, a first movable module and a first connecting plate, the first movable module is fixed on the first base plate, the first servo motor is arranged at one end of the first movable module and drives the first movable module to move, and the first connecting plate is fixed on the sliding block of the first movable module. The slider movement directions of the three moving slider assemblies may constitute an XYZ axis coordinate system. The X-axis moving slide block assembly and the Y-axis moving slide block assembly are fixed at the bottoms of the first backing plates above two angle steels, the bottoms of the two angle steels are fixed on the base, the first backing plates of the Z-axis moving slide block assembly are fixedly connected to the first rib plates, and the bottoms of the first rib plates are fixed on the support.
Further, one side of the first fixed rod, which is close to the movable slide block assembly, is provided with a first fixing flange, the first fixing flange of the first fixed rod is fixed on a first connecting plate of the movable slide block assembly through bolts, one side of the first fixed rod, which is close to the workbench, is provided with a second fixing flange, and the second fixing flange of the first fixed rod is fixed on the workbench through bolts.
Further, the guide groove on the guide rod is square in shape, and the width of the guide groove is matched with the diameter of the round guide rod. When the guide rod moves, the round guide rod moves in the guide groove, and the size of the round guide rod and the size of the guide rod are matched to ensure that excessive friction resistance can not be generated when the round guide rod moves.
Further, the fourth fixed rods of the two constraint branched chains are symmetrically arranged on two sides of the third fixed rod of the Z-axis motion branched chain.
Further, the first fixed rods of the three moving branched chains penetrate through the support, and the first fixed rods of the three moving branched chains are connected with the support through bearings. The direction of the first fixed rod of the three moving branched chains defined by the bearing holes on the bracket is necessarily consistent with the moving direction of the sliding blocks of the three moving sliding block assemblies.
Further, the fourth removes the slider assembly and includes second servo motor, second removal module, second floor and second backing plate, the second backing plate passes through the second floor and vertically fixes on the standard platform, and the second removes the module and fixes on the second backing plate, the second servo motor is fixed in the one end that the second removed the module and is driven the work of second removal module, the slider that the second removed the module of two fourth removal slider assemblies is connected the drive end of X axle rotation branched chain, Y axle rotation branched chain respectively.
Further, the Y-axis rotary branched chain comprises a second connecting plate, a fifth fixed rod, a fish-eye joint bearing, a sixth fixed rod and a seventh fixed rod, wherein the second connecting plate is fixed on a sliding block of another fourth movable sliding block assembly, one end of the fifth fixed rod is fixed on the second connecting plate, the other end of the fifth fixed rod is connected with one end of the sixth fixed rod through the fish-eye joint bearing, one end of the seventh fixed rod at the other end of the sixth fixed rod is connected with one side surface of the movable platform through the fish-eye joint bearing, and the other end of the seventh fixed rod is fixed on one side surface of the movable platform; the axial lead direction of the fifth fixed rod is mutually perpendicular to the axial lead direction of the seventh fixed rod. Because both ends of the sixth fixed rod are connected with the fifth fixed rod and the seventh fixed rod through the fish-eye joint bearing, the axial lead direction of the sixth fixed rod is necessarily perpendicular to the axial lead direction of the fifth fixed rod and the axial lead direction of the seventh fixed rod at the same time.
Further, the X-axis rotary branched chain comprises a third connecting plate, an eighth fixed rod, a joint bearing, a ninth fixed rod and a fourth connecting plate, wherein the third connecting plate is fixed on a sliding block of one fourth movable sliding block assembly, one end of the eighth fixed rod is fixed on the third connecting plate, the other end of the eighth fixed rod is connected with one end of the ninth fixed rod through the joint bearing, the fourth connecting plate is fixed at the other end of the ninth fixed rod, and the fourth connecting plate is connected with the quasi-movable platform through a hinge shaft perpendicular to the seventh fixed rod.
Further, the whole of Z axle restraint pole is the U type, and the both ends of Z axle restraint pole are articulated respectively on accurate moving platform and accurate fixed platform, and the articulated shaft axial lead of accurate fixed platform is connected to the Z axle restraint pole and the axial lead coincidence of the seventh fixed pole of X axle rotatory branched chain, and the articulated shaft peripheral axial lead coincidence of articulated shaft and Z axle restraint pole connection accurate moving platform that the fourth connecting plate of Y axle rotatory branched chain is connected with accurate moving platform.
The invention has the beneficial effects that:
1. The invention adopts the orthogonal three-degree-of-freedom translation parallel mechanism to connect with the spherical orthogonal two-degree-of-freedom rotation parallel mechanism, compared with the four-degree-of-freedom parallel mechanism to connect with the single-degree-of-freedom mechanism in series, the working space is larger, the bearing capacity is stronger, and the movement range and the rotation range of the cutter can be greatly improved because the translational movement and the rotation movement of the cutter are separated, thereby being suitable for processing large-area complex curved surface workpieces.
2. The movable sliding block assembly is fixed on the base, so that the movement inertia of the branched chain is small.
3. The orthogonal three-degree-of-freedom translation parallel mechanism formed by the three movable slide block assemblies can realize the initial assembly decoupling of the mechanism and realize the large-range movement of a processing tool in a space position.
4. The two-degree-of-freedom rotary parallel mechanism is a partial decoupling parallel mechanism, and can realize the processing of complex curved surfaces by positioning the three-degree-of-freedom translational parallel mechanism, and the motion control is easy and the precision is high on the premise of ensuring good bearing capacity and rotation range.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a five-degree-of-freedom series-parallel machine tool.
FIG. 2 is a schematic diagram of a movable slider assembly according to the present invention.
Fig. 3 is a schematic structural view of the moving arm of the present invention.
Fig. 4 is a schematic structural view of a constraining branched chain of the present invention.
Fig. 5 is a schematic view of the structure of the tool rotating assembly of the present invention.
Fig. 6 is a schematic view of the y-axis rotary branched chain of the tool rotary assembly of the present invention.
Fig. 7 is a schematic structural view of an x-axis rotary branched chain of the tool rotary assembly of the present invention.
In the figures, a 1-base, a 2-bracket, a 3-X axis moving slide assembly, a 4-X axis moving branched chain, a 5-Y axis restraining branched chain, a 6-Z axis moving slide assembly, a 7-Z axis moving branched chain, an 8-X axis restraining branched chain, a 9-cutter rotating assembly, a 10-workbench, a 11-Y axis moving branched chain, a 12-Y axis moving slide assembly, 301-angle steel, 302-first base plate, 303-first servo motor, 304-first moving module, 305-slide, 306-first connecting plate, 401-first fixed rod, 402-second fixed rod, 403-third fixed rod, 801-fourth fixed rod, 802-restraining rod, 803-round guide rod, 900-fourth moving slide assembly, 901-quasi-fixed platform, 902-second moving module, 904-second servo motor, 903-aluminum profile, 906-second base plate, 907-second rib plate, 908-X axis rotating branched chain, 909-Z axis restraining rod, 910-quasi-flat plate, 90-quasi-square rod, 31-third fixed rod, 403-third fixed rod, 801-fourth fixed rod, 802-round guide rod, 803-round guide rod, 900-fourth moving platform, 901-fourth fixed rod, 901-quasi-fixed rod, 902-round guide rod, 90-round guide rod, 906-round joint rod, 90-round rod, 35-square rod, and 90-square rod.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
As shown in fig. 1 to 7, a five-degree-of-freedom hybrid machine tool comprises a base 1, a bracket 2, a workbench 10, a tool rotating assembly 9, three movable slide block assemblies, three movable branched chains and two constraint branched chains, wherein the bracket 2 is arranged on the base 1, two movable slide block assemblies are respectively arranged on the base 1 along the directions of an X axis and a Y axis, and a third movable slide block assembly is arranged on the bracket 2 along the direction of a Z axis; the three movable slide block assemblies are respectively connected with the workbench 10 through three movable branched chains, the constraint ends of the two constraint branched chains are arranged on the top surface of the workbench 10, and the fixed ends of the two constraint branched chains are arranged on the bracket 2; the cutter rotating assembly 9 is arranged at the bottom of the workbench 10; the three movable slide block assemblies drive the whole formed by the workbench 10 and the cutter rotating assembly 9 to move in three degrees of freedom through three movement branched chains, and the three degrees of freedom of the workbench 10 and the cutter rotating assembly are restrained by two restraint branched chains. The support 2 and the base 1 form a supporting frame of the whole device, the support 2 is formed by assembling a plurality of linear aluminum profiles, enough space is reserved in the support, the movement of the cutter rotating assembly 9 cannot be interfered, and enough processing space is reserved at the bottom of the base 1.
The three movable slide block assemblies are completely identical in structure, the three movable slide block assemblies are respectively an X-axis movable slide block assembly 3, a Y-axis movable slide block assembly 12 and a Z-axis movable slide block assembly 6, the X-axis movable slide block assembly 3 and the Y-axis movable slide block assembly 12 are fixed on the base 1 through two angle steels 301, and the movable directions of the X-axis movable slide block assembly 3 and the Y-axis movable slide block assembly 12 are mutually perpendicular; the Z-axis moving slide block assembly 6 is vertically arranged on the bracket 2 through a vertically arranged first rib plate, and the slide block moving direction of the Z-axis moving slide block assembly 6 is vertical to the plane where the slide block moving direction of the X-axis moving slide block assembly 3 and the moving direction of the Y-axis moving slide block assembly 12 are located. The basic composition of the movable slide block assembly adopts a linear module mode, and the movement distance can be precisely controlled, so that the movements of the cutter rotating assembly 9 and the workbench 10 can be precisely controlled in three degrees of freedom.
The three moving branched chains are respectively an X-axis moving branched chain 4, a Y-axis moving branched chain 11 and a Z-axis moving branched chain 7, the X-axis moving slide block assembly 3 is connected with the side surface of the workbench 10 through the X-axis moving branched chain 4, the Y-axis moving slide block assembly 12 is connected with the side surface of the workbench 10 through the Y-axis moving branched chain 11, the Z-axis moving slide block assembly 6 is connected with the top surface of the workbench 10 through the Z-axis moving branched chain 7, the moving branched chain comprises a first fixed rod 401, a second fixed rod 402 and a third fixed rod 403, one end of the first fixed rod 401 is connected with the moving end of the moving slide block assembly, the other end of the first fixed rod 401 is connected with one end of the second fixed rod 402 through a hook hinge, the other end of the second fixed rod 402 is connected with one end of the third fixed rod 403 through a hook hinge, and the other end of the third fixed rod 403 is connected with the workbench 10. The motion branched chain formed by connecting the two hook hinges can enable the motion branched chain in one direction to follow the motion branched chain in the other two directions to perform a certain angle motion when the motion branched chain in one direction works, and the motion branched chain cannot be hindered from working.
The first fixing rods 401 of the three moving branched chains penetrate through the support 2, and the first fixing rods 401 of the three moving branched chains are connected with the support 2 through bearings.
The two constraint branched chains are respectively an X-axis constraint branched chain 8 and a Y-axis constraint branched chain 5, the X-axis constraint branched chain 8 constrains the movement of the workbench 10 when the X-axis movement branched chain 4 is driven to work by the X-axis constraint branched chain 3, and the Y-axis constraint branched chain 5 constrains the movement of the workbench 10 when the Y-axis movement branched chain 11 is driven to work by the Y-axis constraint branched chain 5; the constraint branched chain comprises a round guide rod 803, a constraint rod 802 and a fourth fixed rod 801, wherein the bottom of the fourth fixed rod 801 is fixed on the top surface of the workbench 10, the upper end of the fourth fixed rod 801 is connected with the lower end of the constraint rod 802 through a hook hinge, a guide groove is formed in the constraint rod 802, the round guide rod 803 is fixed on the support 2, the round guide rod 803 penetrates through the guide groove in the constraint rod 802, and the guide groove in the constraint rod 802 is tangent to the round guide rod 803; the circular guide 803 of the X-axis constraint branched chain 8 is horizontally arranged perpendicular to the movement direction of the X-axis movement branched chain 4, and the circular guide 803 of the Y-axis constraint branched chain 5 is horizontally arranged perpendicular to the movement direction of the Y-axis movement branched chain 11. The guide groove on the guide rod is square in shape, and the width of the guide groove is matched with the diameter of the round guide rod 803. The function of the constraint straight line is to limit the movement of the workbench in one direction rather than twisting in other indefinite directions when the branched chain is operated in the corresponding direction. The first fixing flange is arranged on one side, close to the movable sliding block assembly, of the first fixing rod 401, the first fixing flange of the first fixing rod 401 is fixed on the first connecting plate 306 of the movable sliding block assembly through bolts, the second fixing flange is arranged on one side, close to the workbench 10, of the first fixing rod 401, and the second fixing flange of the first fixing rod 401 is fixed on the workbench 10 through bolts.
The fourth fixed bars 801 of the two constraint branches are symmetrically arranged on two sides of the third fixed bar 403 of the Z-axis motion branch 7.
The tool rotating assembly 9 comprises an X-axis rotating branched chain 908, a Y-axis rotating branched chain 903, a Z-axis restraining rod 909 quasi-fixed platform 901, a quasi-moving platform 910, a tool 911, an aluminum profile 905 and two fourth moving slide block assemblies 900, wherein the quasi-fixed platform 901 is fixed at the bottom of the workbench 10 through three aluminum profiles 905 which are perpendicular to the quasi-fixed platform 901; the two fourth movable slide block assemblies 900 are vertically fixed on the quasi-fixed platform 901; one end of the X-axis rotary branched chain 908 is connected to the slide block 305 of one of the fourth movable slide block assemblies 900, and the other end of the X-axis rotary branched chain 908 is connected to the quasi-movable platform 910; one end of the Y-axis rotary branched chain 903 is connected to the slide block 305 of the fourth movable slide block assembly 900, and the other end of the Y-axis rotary branched chain 903 is connected to the quasi-movable platform 910; one end of a Z-axis constraint rod 909 is hinged on a quasi-motion platform 910, and the other end of the Z-axis constraint rod 909 is hinged on a quasi-motion platform 901; the direction of the hinge axis of the Z-axis constraining rod 909 and the quasi-moving platform 910 is perpendicular to the direction of the sliding block of the fourth moving sliding block assembly 900 connected with the X-axis rotating branched chain 908, and the direction of the hinge axis of the Z-axis constraining rod 909 and the quasi-moving platform 901 is perpendicular to the direction of the sliding block of the fourth moving sliding block assembly 900 connected with the Y-axis rotating branched chain 903; the cutter 911 is fixed at the bottom of the quasi-motion platform 910; the two fourth movable slider assemblies 900 drive the whole body composed of the alignment platform 910 and the cutter 911 to move through the X-axis rotary branched chain 908 and the Y-axis rotary branched chain 903, and the Z-axis constraining rod 909 constrains the movement direction of the whole body composed of the alignment platform 910 and the cutter 911.
The movable slider assembly comprises a first base plate 302, a first servo motor 303, a first movable module 304 and a first connecting plate 306, wherein the first movable module 304 is fixed on the first base plate 302, the first servo motor 303 is installed at one end of the first movable module 304 and drives the first movable module 304 to move, and the first connecting plate 306 is fixed on the slider 305 of the first movable module 304.
The fourth moving slide block assembly 900 includes a second servo motor 904, a second moving module 902, a second rib 907 and a second base plate 906, the second base plate 906 is vertically fixed on the calibration platform 901 through the second rib 907, the second moving module 902 is fixed on the second base plate 906, the second servo motor 904 is fixed at one end of the second moving module 902 and drives the second moving module 902 to work, and the slides of the second moving modules 902 of the two fourth moving slide block assemblies 900 are respectively connected with the driving ends of the X-axis rotating branched chain 908 and the Y-axis rotating branched chain 903.
The Y-axis rotating branched chain 903 comprises a second connecting plate 9031, a fifth fixed rod 9032, a fisheye joint bearing 9033, a sixth fixed rod 9034 and a seventh fixed rod 9035, wherein the second connecting plate 9031 is fixed on a slide block of the other fourth moving slide block assembly 900, one end of the fifth fixed rod 9032 is fixed on the second connecting plate 9031, the other end of the fifth fixed rod 9032 is connected with one end of the sixth fixed rod 9034 through the fisheye joint bearing 9033, one end of the seventh fixed rod 9035 at the other end of the sixth fixed rod 9034 is connected through the fisheye joint bearing 9033, and the other end of the seventh fixed rod 9035 is fixed on one side surface of the moving platform; the axial line direction of the fifth fixed rod 9032 is perpendicular to the axial line direction of the seventh fixed rod 9035.
The X-axis rotating branched chain 908 comprises a third connecting plate 9081, an eighth fixed rod 9083, a joint bearing 9082, a ninth fixed rod 9084 and a fourth connecting plate 9085, wherein the third connecting plate 9081 is fixed on a sliding block of one fourth moving sliding block assembly 900, one end of the eighth fixed rod 9083 is fixed on the third connecting plate 9081, the other end of the eighth fixed rod 9083 is connected with one end of the ninth fixed rod 9084 through the joint bearing 9082, the fourth connecting plate 9085 is fixed at the other end of the ninth fixed rod 9084, and the fourth connecting plate 9085 is connected with the standard movable platform 910 through a hinge shaft perpendicular to the seventh fixed rod 9035.
The whole of the Z-axis constraint rod 909 is U-shaped, two ends of the Z-axis constraint rod 909 are respectively hinged to the quasi-moving platform 910 and the quasi-moving platform 901, the axis of the hinge shaft of the Z-axis constraint rod 909 connected with the quasi-moving platform 901 coincides with the axis of the seventh fixed rod 9035 of the X-axis rotary branched chain 908, and the axis of the hinge shaft of the fourth connecting plate 9085 of the Y-axis rotary branched chain 903 connected with the quasi-moving platform 910 coincides with the axis of the hinge shaft circumference of the Z-axis constraint rod 909 connected with the quasi-moving platform 910.
The above embodiments are only preferred embodiments of the present invention, and are not limiting to the technical solutions of the present invention, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present invention.
Claims (6)
1. A five-degree-of-freedom series-parallel machine tool is characterized in that: the device comprises a base (1), a bracket (2), a workbench (10), a cutter rotating assembly (9), three movable slide block assemblies, three movement branched chains and two constraint branched chains, wherein the bracket (2) is arranged on the base (1), two movable slide block assemblies are respectively arranged on the base (1) along the directions of an X axis and a Y axis, and a third movable slide block assembly is arranged on the bracket (2) along the direction of a Z axis; the three movable slide block assemblies are respectively connected with the workbench (10) through three movable branched chains, the constraint ends of the two constraint branched chains are arranged on the top surface of the workbench (10), and the fixed ends of the two constraint branched chains are arranged on the bracket (2); the cutter rotating assembly (9) is arranged at the bottom of the workbench (10); the three movable slide block assemblies drive the whole formed by the workbench (10) and the cutter rotating assembly (9) to move in three degrees of freedom through three movement branched chains, and the two constraint branched chains constrain the three degrees of freedom of the workbench (10) and the cutter rotating assembly;
The three movable slide block assemblies are completely identical in structure, the three movable slide block assemblies are an X-axis movable slide block assembly (3), a Y-axis movable slide block assembly (12) and a Z-axis movable slide block assembly (6), the X-axis movable slide block assembly (3) and the Y-axis movable slide block assembly (12) are fixed on the base (1) through two angle steels (301), and the moving directions of the X-axis movable slide block assembly (3) and the Y-axis movable slide block assembly (12) are mutually perpendicular; the Z-axis moving slide block assembly (6) is vertically arranged on the bracket (2) through a first rib plate which is vertically arranged, and the slide block moving direction of the Z-axis moving slide block assembly (6) is vertical to the slide block moving direction of the X-axis moving slide block assembly (3) and the plane in which the slide block moving direction of the Y-axis moving slide block assembly (12) is positioned;
The three moving branched chains are respectively an X-axis moving branched chain (4), a Y-axis moving branched chain (11) and a Z-axis moving branched chain (7), the X-axis moving slide block assembly (3) is connected with the side surface of the workbench (10) through the X-axis moving branched chain (4), the Y-axis moving slide block assembly (12) is connected with the side surface of the workbench (10) through the Y-axis moving branched chain (11), the Z-axis moving slide block assembly (6) is connected with the top surface of the workbench (10) through the Z-axis moving branched chain (7), the moving branched chain comprises a first fixed rod (401), a second fixed rod (402) and a third fixed rod (403), one end of the first fixed rod (401) is connected with the moving end of the moving slide block assembly, the other end of the first fixed rod (401) and one end of the second fixed rod (402) are connected with each other through a hook hinge, and the other end of the third fixed rod (403) is connected with the workbench (10);
the two constraint branched chains are respectively an X-axis constraint branched chain (8) and a Y-axis constraint branched chain (5), the X-axis constraint branched chain (8) constrains the movement of the workbench (10) when the X-axis movement branched chain (4) is driven to work by the X-axis constraint branched chain (3), and the Y-axis constraint branched chain (5) constrains the movement of the workbench (10) when the Y-axis movement branched chain (11) is driven to work by the Y-axis constraint branched chain (12); the constraint branched chain comprises a round guide rod (803), a constraint rod (802) and a fourth fixed rod (801), wherein the bottom of the fourth fixed rod (801) is fixed on the top surface of the workbench (10), the upper end of the fourth fixed rod (801) is connected with the lower end of the constraint rod (802) through a Hooke hinge, a guide groove is formed in the constraint rod (802), the round guide rod (803) is fixed on the support (2), the round guide rod (803) penetrates through the guide groove in the constraint rod (802), and the guide groove in the constraint rod (802) is tangent to the round guide rod (803); the round guide rod (803) of the X-axis constraint branched chain (8) is horizontally arranged perpendicular to the movement direction of the X-axis movement branched chain (4), and the round guide rod (803) of the Y-axis constraint branched chain (5) is horizontally arranged perpendicular to the movement direction of the Y-axis movement branched chain (11);
The cutter rotating assembly (9) comprises an X-axis rotating branched chain (908), a Y-axis rotating branched chain (903), a Z-axis restraining rod (909), a quasi-fixed platform (901), a quasi-moving platform (910), a cutter (911), an aluminum profile (905) and two fourth movable slide block assemblies (900), wherein the quasi-fixed platform (901) is fixed at the bottom of the workbench (10) through three aluminum profiles (905) which are perpendicular to the quasi-fixed platform (901); the two fourth movable slide block assemblies (900) are vertically fixed on the quasi-fixed platform (901); one end of the X-axis rotary branched chain (908) is connected to a slide block of one fourth movable slide block assembly (900), and the other end of the X-axis rotary branched chain (908) is connected with a quasi-movable platform (910); one end of the Y-axis rotary branched chain (903) is connected to a sliding block of the other fourth movable sliding block assembly (900), and the other end of the Y-axis rotary branched chain (903) is connected to the quasi-movable platform (910); one end of a Z-axis constraint rod (909) is hinged on the quasi-motion platform (910), and the other end of the Z-axis constraint rod (909) is hinged on the quasi-motion platform (901); the direction of the hinge axis of the Z-axis constraint rod (909) and the hinge axis of the quasi-motion platform (910) are mutually perpendicular to the direction of the sliding block of the fourth movable sliding block assembly (900) connected with the X-axis rotary branched chain (908), and the direction of the hinge axis of the Z-axis constraint rod (909) and the quasi-motion platform (901) are mutually perpendicular to the direction of the sliding block of the fourth movable sliding block assembly (900) connected with the Y-axis rotary branched chain (903); a cutter (911) is fixed at the bottom of the quasi-motion platform (910); the two fourth movable slide block assemblies (900) drive the whole formed by the quasi-moving platform (910) and the cutter (911) to move through the X-axis rotary branched chain (908) and the Y-axis rotary branched chain (903), and the Z-axis constraint rod (909) constrains the movement direction of the whole formed by the quasi-moving platform (910) and the cutter (911);
The Y-axis rotary branched chain (903) comprises a second connecting plate (9031), a fifth fixed rod (9032), a fish-eye joint bearing (9033), a sixth fixed rod (9034) and a seventh fixed rod (9035), wherein the second connecting plate (9031) is fixed on a sliding block of another fourth movable sliding block assembly (900), one end of the fifth fixed rod (9032) is fixed on the second connecting plate (9031), the other end of the fifth fixed rod (9032) is connected with one end of the sixth fixed rod (9034) through the fish-eye joint bearing (9033), one end of the seventh fixed rod (9035) at the other end of the sixth fixed rod (9034) is connected through the fish-eye joint bearing (9033), and the other end of the seventh fixed rod (9035) is fixed on one side surface of the accurate moving platform; the axial line direction of the fifth fixed rod (9032) is perpendicular to the axial line direction of the seventh fixed rod (9035);
The X-axis rotary branched chain (908) comprises a third connecting plate (9081), an eighth fixed rod (9083), a joint bearing (9082), a ninth fixed rod (9084) and a fourth connecting plate (9085), wherein the third connecting plate (9081) is fixed on a sliding block of one fourth movable sliding block assembly (900), one end of the eighth fixed rod (9083) is fixed on the third connecting plate (9081), the other end of the eighth fixed rod (9083) is connected with one end of the ninth fixed rod (9084) through the joint bearing (9082), the fourth connecting plate (9085) is fixed at the other end of the ninth fixed rod (9084), and the fourth connecting plate (9085) is connected with the quasi-moving platform (910) through a hinge shaft perpendicular to the seventh fixed rod (9035);
The whole of the Z-axis constraint rod (909) is U-shaped, two ends of the Z-axis constraint rod (909) are respectively hinged to the quasi-moving platform (910) and the quasi-moving platform (901), the axis of a hinge shaft of the Z-axis constraint rod (909) connected with the quasi-moving platform (901) coincides with the axis of a seventh fixed rod (9035) of the Y-axis rotary branched chain (903), and the axis of a hinge shaft of the X-axis rotary branched chain (908) connected with the quasi-moving platform (910) coincides with the axis of a hinge shaft of the Z-axis constraint rod (909) connected with the quasi-moving platform (910);
The first fixing rods (401) of the three moving branched chains penetrate through the support (2), and the first fixing rods (401) of the three moving branched chains are connected with the support (2) through bearings.
2. The five-degree-of-freedom series-parallel machine tool of claim 1, wherein: the movable sliding block assembly comprises a first base plate (302), a first servo motor (303), a first movable module (304) and a first connecting plate (306), wherein the first movable module (304) is fixed on the first base plate (302), the first servo motor (303) is arranged at one end of the first movable module (304) and drives the first movable module (304) to move, and the first connecting plate (306) is fixed on a sliding block (305) of the first movable module (304).
3. The five-degree-of-freedom series-parallel machine tool of claim 1, wherein: one side of the first fixed rod (401) close to the movable sliding block assembly is provided with a first fixed flange, the first fixed flange of the first fixed rod (401) is fixed on a first connecting plate (306) of the movable sliding block assembly through bolts, one side of the first fixed rod (401) close to the workbench (10) is provided with a second fixed flange, and the second fixed flange of the first fixed rod (401) is fixed on the workbench (10) through bolts.
4. The five-degree-of-freedom series-parallel machine tool of claim 1, wherein: the guide groove on the constraint rod is square in shape, and the width of the guide groove is matched with the diameter of the round guide rod (803).
5. The five-degree-of-freedom series-parallel machine tool of claim 1, wherein: the fourth fixed rods (801) of the two constraint branched chains are symmetrically arranged on two sides of the third fixed rod (403) of the Z-axis motion branched chain (7).
6. The five-degree-of-freedom series-parallel machine tool of claim 1, wherein: the fourth movable slide block assembly (900) comprises a second servo motor (904), a second movable module (902), a second rib plate (907) and a second base plate (906), the second base plate (906) is vertically fixed on a quasi-fixed platform (901) through the second rib plate (907), the second movable module (902) is fixed on the second base plate (906), the second servo motor (904) is fixed at one end of the second movable module (902) and drives the second movable module (902) to work, and the slide blocks of the second movable modules (902) of the two fourth movable slide block assemblies (900) are respectively connected with the driving ends of the X-axis rotary branched chain (908) and the Y-axis rotary branched chain (903).
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