CN112318183B - Large-stroke five-degree-of-freedom series-parallel machine tool - Google Patents
Large-stroke five-degree-of-freedom series-parallel machine tool Download PDFInfo
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- CN112318183B CN112318183B CN202011274304.9A CN202011274304A CN112318183B CN 112318183 B CN112318183 B CN 112318183B CN 202011274304 A CN202011274304 A CN 202011274304A CN 112318183 B CN112318183 B CN 112318183B
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- 230000000712 assembly Effects 0.000 claims description 15
- 238000000429 assembly Methods 0.000 claims description 15
- 229910052782 aluminium Inorganic materials 0.000 claims description 13
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 17
- 238000003754 machining Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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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- 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
- B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
- B23Q5/40—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw
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Abstract
The invention discloses a large-stroke five-degree-of-freedom hybrid machine tool, which comprises a fixed workbench, an X-axis moving assembly, a Y-axis moving assembly, a Z-axis moving assembly and a cutter rotating assembly, wherein the X-axis moving assembly comprises a bracket, an X-axis driving motor, a first ball screw assembly, a first polished rod and a second polished rod, the Y-axis moving assembly comprises a bottom plate, a Y-axis driving motor, a second ball screw assembly, a third polished rod, a first linear bearing, a sliding block seat and two side plates, and the Z-axis moving assembly comprises a vertical plate, an upper transverse plate, a lower transverse plate, a fourth polished rod, a second linear bearing, a Z-axis driving motor, a third ball screw assembly, a first backing plate and a first connecting plate; the invention adopts the three-degree-of-freedom translation serial mechanism and then connects in series a spherical orthogonal two-degree-of-freedom rotation parallel mechanism, combines the advantages of a serial machine tool and a parallel machine tool, has high precision, strong bearing capacity and large stroke, and is suitable for processing long-axis workpieces and large-area workpieces.
Description
Technical Field
The invention relates to the field of machine tools, in particular to a large-stroke 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 movable platform 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.
Although the working space of the five-degree-of-freedom parallel-serial machine tool is increased compared with that of a parallel machine tool, only one four-degree-of-freedom parallel mechanism is connected in series with one single-degree-of-freedom part, and the machined surface of the five-degree-of-freedom parallel machine tool is a small-range characteristic curved surface such as a spherical surface or a cylindrical surface, and the five-degree-of-freedom parallel machine tool is not suitable for machining long-axis workpieces and large-area workpieces.
Disclosure of Invention
The invention aims to solve the problem that the existing parallel-serial machine tool is not suitable for processing long-axis workpieces and large-area workpieces, and provides a large-stroke five-degree-of-freedom parallel-serial machine tool which is simple in structure, large in working space and large in tool rotation range and is suitable for processing long-axis workpieces and large-area workpieces.
The invention realizes the above purpose through the following technical scheme: a large-stroke five-degree-of-freedom series-parallel machine tool comprises a fixed workbench, an X-axis moving assembly, a Y-axis moving assembly, a Z-axis moving assembly and a cutter rotating assembly,
The X-axis moving assembly comprises a bracket, an X-axis driving motor, a first ball screw assembly, a first polished rod and a second polished rod, wherein the first ball screw assembly comprises a ball screw and a screw nut, the ball screw, the first polished rod and the second polished rod of the first ball screw assembly are arranged on the bracket in parallel, first anchor hoops at two ends of the first polished rod and the third polished rod are fixed on the bracket, and the ball screw of the first ball screw assembly is supported on the bracket through two bearing seats; the X-axis driving motor is fixed on the bracket, and an output shaft of the X-axis driving motor is connected with one end of a ball screw of the first ball screw assembly through a coupler; the fixed workbench is fixed on the bracket;
The Y-axis moving assembly comprises a bottom plate, a Y-axis driving motor, a second ball screw assembly, a third polished rod, a first linear bearing, a sliding block seat and two side plates, wherein the two side plates are symmetrically arranged on two sides of the bottom plate, the bottoms of the two side plates are fixedly connected with the bottom plate, the two side plates are arranged in parallel, the lower ends of the two side plates are respectively provided with the sliding block seat matched with the second polished rod of the X-axis moving assembly, the bottom plate is fixedly provided with the first linear bearing matched with the first polished rod of the X-axis moving assembly, the two ends of the ball screw of the second ball screw assembly and the two ends of the third polished rod are respectively arranged on the two side plates, the ball screw of the second ball screw assembly is supported on the two side plates through two bearing seats, the two ends of the third polished rod are fixed on the two side plates through a second hoop, and the ball screw of the second ball screw assembly and the third polished rod are horizontally arranged and mutually parallel; the Y-axis driving motor is fixed on one of the side plates, and an output shaft of the Y-axis driving motor is connected with one end of a ball screw of the second ball screw assembly through a coupler; a screw nut of a first ball screw assembly in the X-axis moving assembly is fixed in the middle of the bottom plate; the first polished rod of the X-axis moving assembly passes through the first linear bearing of the Y-axis moving assembly, and the second polished rod of the X-axis moving assembly passes through the sliding block seat of the Y-axis moving assembly;
The Z-axis moving assembly comprises a vertical plate, an upper transverse plate, a lower transverse plate, a fourth polished rod, a second linear bearing, a Z-axis driving motor, a third ball screw assembly, a first base plate and a first connecting plate, wherein the vertical plate is vertically fixed on a screw nut of the second ball screw assembly, the upper transverse plate and the lower transverse plate are respectively fixed at the upper end and the lower end of the vertical plate, one side of the vertical plate is provided with the second linear bearing, and the third polished rod of the Y-axis moving assembly penetrates through the second linear bearing; the ball screws of the fourth polish rod and the third ball screw assembly are vertically arranged, the upper end and the lower end of the fourth polish rod are respectively fixed on the upper transverse plate and the lower transverse plate through a third hoop, the ball screws of the third ball screw assembly are supported on the upper transverse plate and the lower transverse plate through two bearing seats, and the output shaft of the Z-axis driving motor is connected with the ball screws of the third ball screw assembly through a coupler; the screw nut of the third ball screw assembly is fixedly connected with the first base plate, and the first connecting plate is fixedly connected with the first base plate;
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 supporting frame and two movable sliding block assemblies, wherein the quasi-positioning platform is fixed on a first connecting plate through three aluminum profile supporting frames perpendicular to the quasi-positioning platform; the two movable slide block assemblies are vertically fixed on the accurate fixed platform; one end of the X-axis rotary branched chain is connected to one of the sliding blocks of the movable sliding block assembly, and the other end of the X-axis rotary branched chain is connected with the quasi-motion platform; one end of the Y-axis rotary branched chain is connected to a slide block of the other movable slide block assembly, and the other end of the Y-axis rotary branched chain is connected to the quasi-motion 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 Z-axis constraint rod is perpendicular to the direction of the hinge axis of the quasi-moving platform and the direction of the sliding block of the movable sliding block assembly connected with the X-axis rotary branched chain, and the direction of the hinge axis of the Z-axis constraint rod is perpendicular to the direction of the sliding block of the movable sliding block assembly connected with the Y-axis rotary branched chain; the cutter is fixed at the bottom of the quasi-motion platform; the two 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 slide block assembly comprises a servo motor, a movable module, a rib plate and a second base plate, the second base plate is vertically fixed on the calibration platform through the rib plate, the movable module is fixed on the second base plate, the servo motor is fixed at one end of the movable module and drives the movable module to work, and the slide blocks of the movable modules of the two movable slide block assemblies are respectively connected with the driving ends of the X-axis rotary branched chain and the Y-axis rotary branched chain.
Further, the Y-axis rotary branched chain comprises a second connecting plate, a first fixed rod, a fish-eye joint bearing, a second fixed rod and a third fixed rod, wherein the second connecting plate is fixed on a sliding block of another movable sliding block assembly, one end of the first fixed rod is fixed on the second connecting plate, the other end of the first fixed rod is connected with one end of the second fixed rod through the fish-eye joint bearing, one end of the third fixed rod at the other end of the second fixed rod is connected with one side surface of the movable platform through the fish-eye joint bearing, and the other end of the third fixed rod is fixed on one side surface of the movable platform; the axial lead direction of the first fixed rod is mutually perpendicular to the axial lead direction of the third fixed rod. Because both ends of the second fixed rod are connected with the first fixed rod and the third fixed rod through the fish-eye joint bearing, the axial lead direction of the second fixed rod is necessarily perpendicular to the axial lead direction of the first fixed rod and the axial lead direction of the third fixed rod at the same time.
Further, the X-axis rotary branched chain comprises a third connecting plate, a fourth fixed rod, a joint bearing, a fifth fixed rod and a fourth connecting plate, wherein the third connecting plate is fixed on a sliding block of one movable sliding block assembly, one end of the fourth fixed rod is fixed on the third connecting plate, the other end of the fourth fixed rod is connected with one end of the fifth fixed rod through the joint bearing, the fourth connecting plate is fixed at the other end of the fifth fixed rod, and the fourth connecting plate is connected with the quasi-movable platform through a hinge shaft perpendicular to the third 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 third 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.
Further, two first polished rods are arranged and symmetrically arranged on two sides of the ball screw, and the two first polished rods are arranged on the inner side of the bracket; the second polished rod is provided with two, and two second polished rods symmetry set up in ball's both sides, and two second polished rods all set up in the outside of support. The number of corresponding first linear bearings and sliders of the Y-axis moving assembly is also two.
Further, the fixing workbench is supported on three aluminum profiles, and two ends of the three aluminum profiles are fixed on the bracket.
Further, the third polished rod is provided with two, and the second linear bearing is provided with two positions corresponding to the positions of the third polished rod one by one.
Further, the first connecting plate is an L-shaped plate, the vertical side face of the L-shaped plate is fixedly connected with the first base plate, and the horizontal plane of the L-shaped plate is a face connected with the cutter rotating assembly.
The invention has the beneficial effects that:
1. The invention adopts the three-degree-of-freedom translation serial mechanism and then connects in series a spherical orthogonal two-degree-of-freedom rotation parallel mechanism, combines the advantages of a serial machine tool and a parallel machine tool, has high precision, strong bearing capacity and large stroke, and is suitable for processing long-axis workpieces and large-area workpieces.
2. The translational movement and the rotational movement of the cutter are separated, the cutter stroke is large, and the rotation range of the cutter can be greatly improved.
3. The three-degree-of-freedom translation serial mechanism greatly expands the space position of the cutter, can ensure the arbitrary movement of the cutter at the space position, and has larger travel in the transverse direction.
4. The two-degree-of-freedom rotary parallel mechanism is a partial decoupling parallel mechanism, can realize pose adjustment of a processing cutter through positioning of the three-degree-of-freedom translational serial mechanism, and has easy motion control and high precision on the premise of ensuring good bearing capacity and rotating range.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a large-stroke five-degree-of-freedom series-parallel machine tool.
FIG. 2 is a schematic structural view of the x-axis translation assembly of the present invention.
FIG. 3 is a schematic view of the y-axis translation assembly of the present invention.
FIG. 4 is a schematic view of the z-axis translation assembly 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 drawing the view of the figure, 1-Y axis movement assembly, 2-Z axis movement assembly, 3-tool rotation assembly, 4-stationary table, 5-X axis movement assembly, 501-second polish rod, 502-X axis drive motor, 503-first ball screw assembly, 504-first anchor ear, 505-first polish rod, 506-bracket, 101-side plate, 102-third polish rod, 103-second ball screw assembly, 104-second anchor ear, 105-Y axis drive motor, 106-first linear bearing, 107-bottom plate, 108-slide block seat, 201-fourth polish rod, 202-second linear bearing, 203-riser, 204-upper cross plate, 205-Z axis drive motor, 206-third ball screw assembly 207-first backing plate, 208-first connecting plate, 209-third anchor ear, 210-lower transverse plate, 300-movable slide block assembly, 301-quasi-fixed platform, 302-movable module, 303-Y axis rotary branched chain, 304-servo motor, 305-aluminum profile support frame, 306-second backing plate, 307-rib plate, 308-X axis rotary branched chain, 309-Z axis constraint rod, 310-quasi-movable platform, 311-cutter, 3031-second connecting plate, 3032-first fixed rod, 3033-fisheye joint bearing, 3034-second fixed rod, 3035-third fixed rod, 3081-third connecting plate, 3082-joint bearing, 3083-fourth fixed rod, 3084-fifth fixed rod and 3085-fourth connecting plate.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the large-stroke five-degree-of-freedom series-parallel machine tool comprises a fixed workbench 4, an X-axis moving assembly 5, a Y-axis moving assembly 1, a Z-axis moving assembly 2 and a cutter rotating assembly 3. Wherein the X-axis moving assembly 5, the Y-axis moving assembly 1 and the Z-axis moving assembly 2 form a three-degree-of-freedom translation serial mechanism, and the cutter rotating assembly 3 forms a two-degree-of-freedom rotation parallel mechanism.
The X-axis moving assembly 5 comprises a bracket 506, an X-axis driving motor 502, a first ball screw assembly 503, a first polish rod 505 and a second polish rod 501, wherein the first ball screw assembly 503 comprises a ball screw and a screw nut, the ball screw of the first ball screw assembly 503, the first polish rod 505 and the second polish rod 501 are arranged on the bracket 506 in parallel, two ends of the first polish rod 505 and the third polish rod 102 are fixed on the bracket 506 through a first hoop 504, and the ball screw of the first ball screw assembly 503 is supported on the bracket 506 through two first bearing seats; the X-axis driving motor 502 is fixed on the bracket 506, and an output shaft of the X-axis driving motor 502 is connected with one end of a ball screw of the first ball screw assembly 503 through a coupling; the fixed table 4 is fixed to the bracket 506. The fixing workbench 4 is supported on three aluminum profiles, and two ends of the three aluminum profiles are fixed on the bracket 506. In operation, the screw nut of the first ball screw assembly 503 is fixedly connected to the bottom plate 107 of the Y-axis moving assembly 1, and the bottom plate of the Y-axis moving assembly 1 is fixed, so that the X-axis driving motor 502 pushes the whole X-axis moving assembly 5 to perform linear motion relative to the bottom plate of the Y-axis moving assembly 1 in operation.
The two first polished rods 505 are symmetrically arranged on two sides of the ball screw, and the two first polished rods 505 are arranged on the inner side of the bracket 506; the second polished rod 501 is provided with two, and two second polished rods 501 symmetry set up in ball's both sides, and two second polished rods 501 all set up in the outside of support 506. The number of the third polished rods 102 is two, and the number of the second linear bearings 202 is two, and the positions of the second linear bearings correspond to the positions of the third polished rods 102 one by one. The first polish rod 505 and the second polish rod 501 ensure both the movement direction of the X-axis moving assembly 5 and the stability in movement.
The Y-axis moving assembly 1 comprises a bottom plate 107, a Y-axis driving motor 105, a second ball screw assembly 103, a third polished rod 102, a first linear bearing 106, a sliding block seat 108 and two side plates 101, wherein the two side plates 101 are symmetrically arranged on two sides of the bottom plate 107, the bottoms of the two side plates 101 are fixedly connected with the bottom plate 107, the two side plates 101 are arranged in parallel, the sliding block seat 108 matched with the second polished rod 501 of the X-axis moving assembly 5 is respectively arranged at the lower ends of the two side plates 101, the first linear bearing 106 matched with the first polished rod 505 of the X-axis moving assembly 5 is fixed on the bottom plate 107, the two ends of the ball screw of the second ball screw assembly 103 and the two ends of the third polished rod 102 are respectively arranged on the two side plates 101, the ball screw of the second ball screw assembly 103 is supported on the two side plates 101 through two bearing seats, the two ends of the third polished rod 102 are fixed on the two side plates 101 through second hoops 104, and the ball screw of the second ball screw assembly 103 and the third polished rod 102 are horizontally arranged and mutually parallel; the Y-axis driving motor 105 is fixed on one of the side plates 101, and an output shaft of the Y-axis driving motor 105 is connected with one end of a ball screw of the second ball screw assembly 103 through a coupler; a screw nut of the first ball screw assembly 503 in the X-axis moving assembly 5 is fixed in the middle of the bottom plate 107; the first polish rod 505 of the X-axis moving assembly 5 passes through the first linear bearing 106 of the Y-axis moving assembly 1, and the second polish rod 501 of the X-axis moving assembly passes through the slider seat 108 of the Y-axis moving assembly 1. The Y-axis driving motor 105 is operated to drive the Z-axis moving assembly 2 to linearly move in the Y-axis direction of the screw nut of the second ball screw assembly 103.
The Z-axis moving assembly 2 comprises a vertical plate 203, an upper transverse plate 204, a lower transverse plate 210, a fourth polished rod 201, a second linear bearing 202, a Z-axis driving motor 205, a third ball screw assembly 206, a first base plate 207 and a first connecting plate 208, wherein the vertical plate 203 is vertically fixed on a screw nut of the second ball screw assembly 103, the upper transverse plate 204 and the lower transverse plate 210 are respectively fixed at the upper end and the lower end of the vertical plate 203, one side of the vertical plate 203 is provided with the second linear bearing 202, and the third polished rod 102 of the Y-axis moving assembly 1 passes through the second linear bearing 202; the ball screws of the fourth polish rod 201 and the third ball screw assembly 206 are all vertically arranged, the upper end and the lower end of the fourth polish rod 201 are respectively fixed on the upper transverse plate 204 and the lower transverse plate 210 through a third anchor ear 209, the ball screws of the third ball screw assembly 206 are supported on the upper transverse plate 204 and the lower transverse plate 210 through two bearing seats, and the output shaft of the Z-axis driving motor 205 is connected with the ball screws of the third ball screw assembly 206 through a coupling; the screw nut of the third ball screw assembly 206 is fixedly connected to the first backing plate 207, and the first connecting plate 208 is fixedly connected to the first backing plate 207. The first connecting plate 208 is an L-shaped plate, the vertical side surface of the L-shaped plate is fixedly connected with the first base plate 207, and the horizontal surface of the L-shaped plate is a surface connected with the cutter rotating assembly 3. The Z-axis drive motor 205 operates to drive the tool rotation assembly 3 to move in a vertical direction.
The tool rotating assembly 3 comprises an X-axis rotating branched chain 308, a Y-axis rotating branched chain 303, a Z-axis constraint rod 309, a quasi-positioning platform 301, a quasi-moving platform 310, a tool 311, an aluminum profile support frame 305 and two movable slide block assemblies 300, wherein the quasi-positioning platform 301 is fixed on the first connecting plate 208 through three aluminum profile support frames 305 which are perpendicular to the quasi-positioning platform 301; the two movable slide assemblies 300 are vertically fixed on the quasi-fixed platform 301; one end of the X-axis rotating branched chain 308 is connected to a slide block of one of the movable slide block assemblies 300, and the other end of the X-axis rotating branched chain 308 is connected to the quasi-movable platform 310; one end of the Y-axis rotating branched chain 303 is connected to a slide block of the other movable slide block assembly 300, and the other end of the Y-axis rotating branched chain 303 is connected to the quasi-movable platform 310; one end of a Z-axis constraint rod 309 is hinged on the quasi-motion platform 310, and the other end of the Z-axis constraint rod 309 is hinged on the quasi-motion platform 301; the direction of the hinge axis of the Z-axis constraint rod 309 and the hinge axis of the quasi-motion platform 310 are mutually perpendicular to the direction of the sliding block of the movable sliding block assembly 300 connected with the X-axis rotary branched chain 308, and the direction of the hinge axis of the Z-axis constraint rod 309 and the quasi-motion platform 301 and the direction of the sliding block of the movable sliding block assembly 300 connected with the Y-axis rotary branched chain 303 are mutually perpendicular; the cutter 311 is fixed at the bottom of the quasi-motion platform 310; the two movable slide assemblies 300 drive the whole composed of the quasi-motion platform 310 and the cutter 311 to move through the X-axis rotary branched chain 308 and the Y-axis rotary branched chain 303, and the Z-axis constraint rod 309 constrains the movement direction of the whole composed of the quasi-motion platform 310 and the cutter 311.
The movable slider assembly 300 comprises a servo motor 304, a movable module 302, a rib plate 307 and a second base plate 306, the second base plate 306 is vertically fixed on the quasi-fixed platform 301 through the rib plate 307, the movable module 302 is fixed on the second base plate 306, the servo motor 304 is fixed at one end of the movable module 302 and drives the movable module 302 to work, and the sliders of the movable modules 302 of the two movable slider assemblies 300 are respectively connected with the driving ends of the X-axis rotary branched chain 308 and the Y-axis rotary branched chain 303.
The Y-axis rotating branched chain 303 comprises a second connecting plate 3031, a first fixed rod 3032, a fisheye joint bearing 30823033, a second fixed rod 3034 and a third fixed rod 3035, wherein the second connecting plate 3031 is fixed on a sliding block of the other moving sliding block assembly 300, one end of the first fixed rod 3032 is fixed on the second connecting plate 3031, the other end of the first fixed rod 3032 is connected with one end of the second fixed rod 3034 through the fisheye joint bearing 30823033, one end of the third fixed rod 3035 at the other end of the second fixed rod 3034 is connected with one side surface of the moving platform through the fisheye joint bearing 30823033, and the other end of the third fixed rod 3035 is fixed on one side surface of the moving platform; the axial line direction of the first fixed rod 3032 is perpendicular to the axial line direction of the third fixed rod 3035.
The X-axis rotating branched chain 308 comprises a third connecting plate 3081, a fourth fixed rod 3083, a joint bearing 3082, a fifth fixed rod 3084 and a fourth connecting plate 3085, wherein the third connecting plate 3081 is fixed on a sliding block of one of the moving sliding block assemblies 300, one end of the fourth fixed rod 3083 is fixed on the third connecting plate 3081, the other end of the fourth fixed rod 3083 is connected with one end of the fifth fixed rod 3084 through the joint bearing 3082, the fourth connecting plate 3085 is fixed at the other end of the fifth fixed rod 3084, and the fourth connecting plate 3085 is connected with the standard moving platform 310 through a hinge shaft perpendicular to the third fixed rod 3035.
The whole of the Z-axis constraint rod 309 is U-shaped, two ends of the Z-axis constraint rod 309 are respectively hinged to the quasi-moving platform 310 and the quasi-moving platform 301, the axis of the hinge shaft of the Z-axis constraint rod 309 connected to the quasi-moving platform 301 coincides with the axis of the third fixed rod 3035 of the X-axis rotary branched chain 308, and the axis of the hinge shaft of the fourth connecting plate 3085 of the Y-axis rotary branched chain 303 connected to the quasi-moving platform 310 coincides with the axis of the hinge shaft circumference of the Z-axis constraint rod 309 connected to the quasi-moving platform 310.
The X-axis driving motor 502 driving the X-axis moving assembly 5, the Y-axis driving motor 105 driving the Y-axis moving assembly 1, the Z-axis driving motor 205 driving the Z-axis moving assembly 2 and the two servo motors 304 driving the cutter rotating assembly 3 can realize the movement of three degrees of freedom and the rotation of two degrees of freedom of the cutter.
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 (5)
1. A large-stroke five-degree-of-freedom series-parallel machine tool is characterized in that: comprises a fixed workbench (4), an X-axis moving assembly (5), a Y-axis moving assembly (1), a Z-axis moving assembly (2) and a cutter rotating assembly (3),
The X-axis moving assembly (5) comprises a bracket (506), an X-axis driving motor (502), a first ball screw assembly (503), a first polished rod (505) and a second polished rod (501), wherein the first ball screw assembly (503) comprises a ball screw and a screw nut, the ball screw of the first ball screw assembly (503), the first polished rod (505) and the second polished rod (501) are arranged on the bracket (506) in parallel, two ends of the first polished rod (505) and two ends of the second polished rod (501) are fixed on the bracket (506) through a first hoop (504), and the ball screw of the first ball screw assembly (503) is supported on the bracket (506) through two first bearing seats; the X-axis driving motor (502) is fixed on the bracket (506), and an output shaft of the X-axis driving motor (502) is connected with one end of a ball screw of the first ball screw assembly (503) through a coupler; the fixed workbench (4) is fixed on the bracket (506);
The Y-axis moving assembly (1) comprises a bottom plate (107), a Y-axis driving motor (105), a second ball screw assembly (103), a third polished rod (102), a first linear bearing (106), a sliding block seat (108) and two side plates (101), wherein the two side plates (101) are symmetrically arranged on two sides of the bottom plate (107) and the bottoms of the two side plates (101) are fixedly connected with the bottom plate (107), the two side plates (101) are arranged in parallel, the lower ends of the two side plates (101) are respectively provided with the sliding block seat (108) matched with the second polished rod (501) of the X-axis moving assembly (5), the bottom plate (107) is fixedly provided with the first linear bearing (106) matched with the first polished rod (505) of the X-axis moving assembly (5), the ball screws of the second ball screw assembly (103) and the two ends of the third polished rod (102) are respectively arranged on the two side plates (101), the ball screws of the second ball screw assembly (103) are supported on the two side plates (101) through the two bearing seats, and the two ends of the third polished rod assembly (102) are fixedly arranged on the two side plates (101) in parallel through the second polished rod assembly (104); the Y-axis driving motor (105) is fixed on one side plate (101), and an output shaft of the Y-axis driving motor (105) is connected with one end of a ball screw of the second ball screw assembly (103) through a coupler; a screw nut of a first ball screw assembly (503) in the X-axis moving assembly (5) is fixed in the middle of the bottom plate (107); a first polished rod (505) of the X-axis moving assembly (5) passes through a first linear bearing (106) of the Y-axis moving assembly (1), and a second polished rod (501) of the X-axis moving assembly passes through a sliding block seat (108) of the Y-axis moving assembly (1);
The Z-axis moving assembly (2) comprises a vertical plate (203), an upper transverse plate (204), a lower transverse plate (210), a fourth polished rod (201), a second linear bearing (202), a Z-axis driving motor (205), a third ball screw assembly (206), a first base plate (207) and a first connecting plate (208), wherein the vertical plate (203) is vertically fixed on a screw nut of the second ball screw assembly (103), the upper transverse plate (204) and the lower transverse plate (210) are respectively fixed at the upper end and the lower end of the vertical plate (203), one side of the vertical plate (203) is provided with the second linear bearing (202), and the third polished rod (102) of the Y-axis moving assembly (1) penetrates through the second linear bearing (202); the ball screws of the fourth polished rod (201) and the third ball screw assembly (206) are vertically arranged, the upper end and the lower end of the fourth polished rod (201) are respectively fixed on the upper transverse plate (204) and the lower transverse plate (210) through a third hoop (209), the ball screws of the third ball screw assembly (206) are supported on the upper transverse plate (204) and the lower transverse plate (210) through two bearing seats, and an output shaft of the Z-axis driving motor (205) is connected with the ball screws of the third ball screw assembly (206) through a coupling; the screw nut of the third ball screw assembly (206) is fixedly connected with the first backing plate (207), and the first connecting plate (208) is fixedly connected with the first backing plate (207);
The cutter rotating assembly (3) comprises an X-axis rotating branched chain (308), a Y-axis rotating branched chain (303), a Z-axis constraint rod (309), a quasi-positioning platform (301), a quasi-moving platform (310), a cutter (311), an aluminum profile supporting frame (305) and two movable slide block assemblies (300), wherein the quasi-positioning platform (301) is fixed on a first connecting plate (208) through three aluminum profile supporting frames (305) which are perpendicular to the quasi-positioning platform (301); the two movable slide block assemblies (300) are vertically fixed on the quasi-fixed platform (301); one end of the X-axis rotary branched chain (308) is connected to a slide block of one of the movable slide block assemblies (300), and the other end of the X-axis rotary branched chain (308) is connected to the quasi-motion platform (310); one end of the Y-axis rotary branched chain (303) is connected to a sliding block of the other movable sliding block assembly (300), and the other end of the Y-axis rotary branched chain (303) is connected to the quasi-movable platform (310); one end of a Z-axis constraint rod (309) is hinged on the quasi-motion platform (310), and the other end of the Z-axis constraint rod (309) is hinged on the quasi-motion platform (301); the direction of the hinge axis of the Z-axis constraint rod (309) and the hinge axis of the quasi-motion platform (310) are mutually perpendicular to the direction of the sliding block of the movable sliding block assembly (300) connected with the X-axis rotary branched chain (308), and the direction of the hinge axis of the Z-axis constraint rod (309) and the quasi-motion platform (301) are mutually perpendicular to the direction of the sliding block of the movable sliding block assembly (300) connected with the Y-axis rotary branched chain (303); the cutter (311) is fixed at the bottom of the quasi-motion platform (310); the two movable slide block assemblies (300) drive the whole formed by the standard motion platform (310) and the cutter (311) to move through the X-axis rotary branched chain (308) and the Y-axis rotary branched chain (303), and the Z-axis constraint rod (309) constrains the motion direction of the whole formed by the standard motion platform (310) and the cutter (311);
The Y-axis rotary branched chain (303) comprises a second connecting plate (3031), a first fixed rod (3032), a fish-eye joint bearing (3033), a second fixed rod (3034) and a third fixed rod (3035), wherein the second connecting plate (3031) is fixed on a sliding block of the other movable sliding block assembly (300), one end of the first fixed rod (3032) is fixed on the second connecting plate (3031), the other end of the first fixed rod (3032) is connected with one end of the second fixed rod (3034) through the fish-eye joint bearing (3033), one end of the third fixed rod (3035) at the other end of the second fixed rod (3034) is connected through the fish-eye joint bearing (3033), and the other end of the third fixed rod (3035) is fixed on one side surface of the movable platform; the axial line direction of the first fixed rod (3032) is perpendicular to the axial line direction of the third fixed rod (3035);
The X-axis rotary branched chain (308) comprises a third connecting plate (3081), a fourth fixed rod (3083), a joint bearing (3082), a fifth fixed rod (3084) and a fourth connecting plate (3085), wherein the third connecting plate (3081) is fixed on a sliding block of one movable sliding block assembly (300), one end of the fourth fixed rod (3083) is fixed on the third connecting plate (3081), the other end of the fourth fixed rod (3083) is connected with one end of the fifth fixed rod (3084) through the joint bearing (3082), the fourth connecting plate (3085) is fixed at the other end of the fifth fixed rod (3084), and the fourth connecting plate (3085) is connected with the quasi-movable platform (310) through a hinge shaft perpendicular to the third fixed rod (3035);
The whole of the Z-axis constraint rod (309) is U-shaped, two ends of the Z-axis constraint rod (309) are respectively hinged to the quasi-moving platform (310) and the quasi-moving platform (301), the axis of a hinge shaft of the Z-axis constraint rod (309) connected with the quasi-moving platform (301) coincides with the axis of a third fixed rod (3035) of the Y-axis rotary branched chain (303), and the axis of a hinge shaft of the X-axis rotary branched chain (308) connected with the quasi-moving platform (310) coincides with the axis of a hinge shaft of the Z-axis constraint rod (309) connected with the quasi-moving platform (310);
The two first polished rods (505) are symmetrically arranged on two sides of the ball screw, and the two first polished rods (505) are arranged on the inner side of the bracket (506); the second polished rod (501) is provided with two, and two second polished rods (501) symmetry set up in ball screw's both sides, and two second polished rods (501) all set up in the outside of support (506).
2. The large-stroke five-degree-of-freedom series-parallel machine tool according to claim 1, wherein: the movable sliding block assembly (300) comprises a servo motor (304), a movable module (302), rib plates (307) and a second base plate (306), the second base plate (306) is vertically fixed on the quasi-fixed platform (301) through the rib plates (307), the movable module (302) is fixed on the second base plate (306), the servo motor (304) is fixed at one end of the movable module (302) and drives the movable module (302) to work, and the sliding blocks of the movable modules (302) of the two movable sliding block assemblies (300) are respectively connected with the driving ends of the X-axis rotary branched chain (308) and the Y-axis rotary branched chain (303).
3. The large-stroke five-degree-of-freedom series-parallel machine tool according to claim 1, wherein: the fixing workbench (4) is supported on three aluminum profiles, and two ends of the three aluminum profiles are fixed on the bracket (506).
4. The large-stroke five-degree-of-freedom series-parallel machine tool according to claim 1, wherein: the number of the third polished rods (102) is two, and the second linear bearings (202) are arranged at two positions corresponding to the positions of the third polished rods (102) one by one.
5. The large-stroke five-degree-of-freedom series-parallel machine tool according to claim 1, wherein: the first connecting plate (208) is an L-shaped plate, the vertical side surface of the L-shaped plate is fixedly connected with the first base plate (207), and the horizontal plane of the L-shaped plate is a surface connected with the cutter rotating assembly (3).
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