CN113043228B - Multi-station power tool rest posture adjusting detection platform and control method thereof - Google Patents
Multi-station power tool rest posture adjusting detection platform and control method thereof Download PDFInfo
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- CN113043228B CN113043228B CN202110303811.9A CN202110303811A CN113043228B CN 113043228 B CN113043228 B CN 113043228B CN 202110303811 A CN202110303811 A CN 202110303811A CN 113043228 B CN113043228 B CN 113043228B
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- 238000012545 processing Methods 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/06—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby of trestle type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
Abstract
The invention relates to the technical field of detection and control, in particular to a posture adjusting detection platform of a multi-station power knife rest, which comprises: a tool holder body; the first support part comprises a first seat body and a first rotating body, the first seat body moves along a straight line, the first rotating body is rotatably connected with the first seat body through a first rotating pair, the first rotating body is rotatably connected with the tool rest body through a second rotating pair, and the first rotating pair and the second rotating pair are relatively fixed; the second support part comprises a linear motion end and a height adjusting device, the linear motion end moves along a straight line, one end of the height adjusting device is connected with the linear motion end through a first ball pair, and the other end of the height adjusting device is connected with the tool rest body through a second ball pair; the first base and the linear guide structure at the linear motion end are relatively static and parallel. The invention can realize the determined parameter relationship between the tool rest body and the three driving inputs, effectively reduces the control difficulty, realizes the platform by a low pair, and has the advantages of convenient control, simple processing and manufacturing, and the like.
Description
Technical Field
The invention relates to the technical field of detection and control, in particular to a multi-station power tool rest posture adjusting detection platform and a control method thereof.
Background
The machining process of the machine tool is a relative motion process between a cutter and a workpiece which are arranged on a power tool rest, the power tool rest is a core functional component of the numerical control machine tool for improving the machining efficiency, expanding the process range and enhancing the performance of the whole machine, the precision of the power tool rest directly influences the track and the accuracy of the surface forming motion of the part, and the static and dynamic performance of the power tool rest directly influences the machining precision, the surface quality and the production efficiency and the reliability of the machine tool.
The power tool rest can realize various composite processing such as one-time loading, clamping, unloading, milling, drilling, boring, gear hobbing and the like, can also realize the processing of drilling inclined holes, milling inclined planes and performing space curved surfaces as interpolation shafts, has the advantages of high dynamic sensitivity, high precision, strong torsion, high reliability and the like, is widely applied to the fields of automobile power assemblies, advanced national defense weapons, integrated circuits, aerospace, optical manufacturing and consumer electronics, meets the processing requirements of complex and high-precision parts, can replace the processing of a plurality of devices, greatly shortens the processing period and the cost, and has great value and significance.
After the power knife rest is manufactured and assembled, various errors of the power knife rest need to be detected so as to guarantee the precision requirement of the power knife rest, and the corresponding relation between input and output needs to be established in the detection process so as to guarantee the accurate detection condition.
In view of the above problems, the present designer is based on the practical experience and professional knowledge that are abundant for many years in engineering application of such products, and is actively making research and innovation in cooperation with the application of theory, so as to design a multi-station power tool rest posture adjustment detection platform and a control method thereof.
Disclosure of Invention
The invention provides a multi-station power tool rest posture adjustment detection platform, which can effectively solve the problems in the background art, and simultaneously, the invention also requests to protect a control method of the multi-station power tool rest posture adjustment detection platform, and has the same technical effect.
In order to achieve the purpose, the invention adopts the technical scheme that:
a multi-station power tool rest's accent appearance testing platform includes:
a tool holder body;
the first support part comprises a first seat body and a first rotating body, the first seat body moves along a straight line, the first rotating body is rotatably connected with the first seat body through a first rotating pair, the first rotating body is rotatably connected with the tool rest body through a second rotating pair, and the first rotating pair and the second rotating pair are relatively fixed;
the second support part comprises a linear motion end and a height adjusting device, the linear motion end moves along a straight line, one end of the height adjusting device is connected with the linear motion end through a first ball pair, and the other end of the height adjusting device is connected with the tool rest body through a second ball pair;
the first base and the linear guide structure at the linear motion end are relatively static and parallel.
Further, the axes of the first rotating pair and the second rotating pair are vertically arranged.
Further, the first rotating pair and the second rotating pair are realized through a T-shaped structure.
Further, the linear motion of the first seat and the linear motion end is performed in the same static plane.
Further, the axis of the first rotating pair is perpendicular to the static plane.
Further, the axis of the first rotating pair is parallel to the static plane.
Further, the height adjusting device comprises a first rod body and a second rod body, the first rod body is connected with the second rod body through a third revolute pair, the second rod body is divided into a first section and a second section through the third revolute pair, and the tail end of the first section is connected with the second ball pair;
the linear motion end comprises two moving bodies, the two moving bodies move oppositely or oppositely along the linear direction, and the two moving bodies are respectively connected with the tail ends of the second sections of the first rod body and the second rod body through the two first ball pairs.
Further, the first rod and the second rod are equal in length.
Furthermore, the height adjusting device comprises a cylinder body and an adjusting rod, the adjusting rod moves linearly along the inner cavity of the cylinder body, the tail end of the adjusting rod is connected with the second ball pair, and the tail end of the cylinder body is connected with the first ball pair.
A control method of a multi-station power tool rest posture adjusting detection platform is used for controlling the multi-station power tool rest posture adjusting detection platform as described above:
the posture of the tool rest body is adjusted by the linear motion control of the first seat body, the linear motion control of the linear motion end and the height adjustment of the height adjusting device.
Through the technical scheme of the invention, the following technical effects can be realized:
through the multi-station power tool rest posture adjusting detection platform and the corresponding control method, the determined parameter relation between the tool rest body and three driving inputs can be realized, so that the control difficulty is effectively reduced. The detection platform can be used for detecting various errors of the power knife rest after the power knife rest is manufactured and assembled, and the whole detection platform is realized by a low pair and has the advantages of convenience in control, simplicity in processing and manufacturing and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of a pose adjustment detection platform of a multi-station power tool rest according to an embodiment;
FIG. 2 is a schematic view showing the connection between the main body and the first support portion of the first embodiment;
FIG. 3 is a schematic view of a first supporting portion according to an embodiment;
fig. 4 is an exploded view of the first seat and the first rotating body according to the first embodiment;
FIG. 5 is a simplified schematic diagram of a pose adjustment detection platform of the multi-station power tool post according to the first embodiment;
FIG. 6 is a schematic view of a first supporting portion according to a second embodiment;
fig. 7 is an exploded schematic view of the first seat and the first rotating body according to the second embodiment;
FIG. 8 is a simplified schematic view of a pose adjustment detection platform of the multi-station power tool holder according to the second embodiment;
FIG. 9 is a schematic view showing the connection between the holder body and the second support portion in the second embodiment;
FIG. 10 is a schematic structural view of a second supporting portion according to a second embodiment;
FIG. 11 is a schematic view showing a height adjusting process of the height adjusting apparatus according to the second embodiment;
FIG. 12 is a schematic view showing the first rod and the second rod being equal in length according to the second embodiment;
fig. 13 is a schematic structural view of an attitude adjusting detection platform of the multi-station power tool rest in the third embodiment;
FIG. 14 is a schematic structural view of a second supporting portion according to a third embodiment;
reference numerals:
1. a tool holder body; 2. a first support section; 21. a first seat body; 22. a first rotating body; 23. a first rotating pair; 24. a second revolute pair; 3. a second support portion; 31. a linear motion end; 31a, a moving body; 32. a height adjustment device; 32a, a first rod body; 32b, a second rod body; 32b-1, first section; 32b-2, second segment; 32c, a third revolute pair; 33. a first ball pair; 34. a second ball pair; 35. a cylinder body; 36. and adjusting the rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Example one
As shown in FIGS. 1-5, the appearance testing platform that transfers of multistation power knife rest includes: a tool holder body 1; the first supporting part 2 comprises a first seat body 21 and a first rotating body 22, the first seat body 21 moves along a straight line, the first rotating body 22 is rotatably connected with the first seat body 21 through a first rotating pair 23, the first rotating body 22 is rotatably connected with the tool rest body 1 through a second rotating pair 24, and the first rotating pair 23 and the second rotating pair 24 are relatively fixed; the second support portion 3 includes a linear motion end 31 and a height adjustment device 32, the linear motion end 31 moves along a straight line, one end of the height adjustment device 32 is connected to the linear motion end 31 through a first ball pair 33, the other end of the height adjustment device 32 is connected to the tool rest body 1 through a second ball pair 34, and the linear guide structures of the first seat 21 and the linear motion end 31 are relatively static and parallel.
In this embodiment, the linear motion of the first seat 21 and the linear motion end 31 is performed in the same static plane in the implementation process, referring to fig. 5, the static plane is defined by the X and Y axes, and the axis of the first rotating pair 23 is perpendicular to the static plane, that is, the axis of the first rotating pair 23 is disposed along the Z axis.
In the present embodiment, the axes of the first rotating pair 23 and the second rotating pair 24 are arranged vertically, and in order to ensure the above-mentioned vertical relationship, the first rotating pair 23 and the second rotating pair 24 may be provided by a "T" shaped structure, specifically, the middle rod of the "T" shaped structure is arranged vertically with respect to the static plane, and the top rod of the "T" shaped structure is arranged parallel with respect to the static plane.
The whole detection platform in the embodiment is realized by a low pair, and has the advantages of convenience in control, simplicity in processing and manufacturing and the like.
The control method of the posture adjusting detection platform of the multi-station power tool rest in the embodiment comprises the following steps: the posture adjustment of the tool rest body 1 is realized by the linear motion control of the first seat 21, the linear motion control of the linear motion end 31 and the height adjustment of the height adjusting device 32.
During the posture adjustment of the tool holder body 1, the rotation of the tool holder body 1 with respect to the parallel Z axis in fig. 5 can be realized by the rotational coupling between the first rotating body 22 and the first seat body 21 through the first revolute pair 23, and during the height adjustment by the height adjusting device 32, the rotation of the tool holder body 1 with respect to the parallel X axis in fig. 5 can be realized by the rotational coupling between the first rotating body 22 and the tool holder body 1 through the second revolute pair 24.
In this embodiment, the arrangement of the first ball pair 33 and the second ball pair 34, and the linear motion control of the first seat 21 and the linear motion end 31 effectively ensure the requirement of the freedom degree of the tool rest body 1 in the process of rotating in the above independent direction or rotating in both directions simultaneously, ensure the accuracy and smoothness of the detection action of the whole detection platform, and avoid the error caused by the phenomena of jamming and the like; in the embodiment, different from the prior art, the control input is optimized, in the multiple moving bodies, the linear power of the first seat 21, the linear power of the linear moving end 31 and the height adjusting power of the height adjusting device 32 are selected as power input ends in the embodiment, the three power sources are all in linear control, the control difficulty is small, and the parameter relationship between the tool rest body 1 and the three power inputs is a symbolic analytic relationship, so that the posture adjustment control is more accurate.
Example two
In this embodiment, the main structure of the posture adjustment detection platform of the multi-station power tool rest is the same as that in the first embodiment, the difference between the two is shown in fig. 6 to 8, the axis of the first rotating pair 23 in this embodiment is parallel to the static plane, in this embodiment, similarly, the linear motion of the first seat 21 and the linear motion end 31 is performed in the same static plane, referring to fig. 8, the static plane is defined to be determined by the X and Y axes, and the axis of the first rotating pair 23 is parallel to the Y axis.
As an optimized way of the height adjustment device 32 in this embodiment, as shown in fig. 8 to 12, the height adjustment device 32 includes a first rod 32a and a second rod 32b, the first rod 32a and the second rod 32b are connected by a third revolute pair 32c, the third revolute pair 32c divides the second rod 32b into a first segment 32b-1 and a second segment 32b-2, and the end of the first segment 32b-1 is connected to a second ball pair 34; the linear motion end 31 includes two moving bodies 31a, the two moving bodies 31a move relatively or oppositely along a linear direction, and the two moving bodies 31a are connected to the ends of the first rod 32a and the second segment 32b-2 through two first ball pairs 33, respectively.
In this embodiment, during the posture adjustment of the tool holder body 1, the first rotating body 22 is rotatably connected to the first seat 21 via the first pair of rotating members 23, so that the tool holder body 1 can be rotated with respect to the Y-axis parallel to fig. 8, and during the height adjustment by the height adjusting device 32, the first rotating body 22 is rotatably connected to the tool holder body 1 via the second pair of rotating members 24, so that the tool holder body 1 can be rotated with respect to the X-axis parallel to fig. 5.
The height adjusting device 32 as an optimized mode can realize a more stable posture adjusting process, specifically, a planar structure is formed by the first rod body 32a and the second rod body 32b which are rotationally connected through the third revolute pair 32c, and two supporting points are obtained at the bottom of the planar structure through the two moving bodies 31a, so that the motion stability in the detection process can be effectively improved; in terms of power output, the height adjusting process of the height adjusting device 32 is realized through the linear motion control of the two moving bodies 31a, and the control difficulty is further reduced. Referring to fig. 11, the adjustment of the angle between the two rods allows for height adjustment.
Preferably, the first rod 32a and the second segment 32b-2 are equal in length, as shown in fig. 12, so that the equivalent linear movement distance between the bottoms of the two rods can be ensured, and the control difficulty can be further reduced.
EXAMPLE III
In this embodiment, the main structure of the posture adjustment detection platform of the multi-station power tool rest is the same as that in the second embodiment, and the difference between the two embodiments is shown in fig. 13 and 14, in this embodiment, the height adjustment device 32 includes a cylinder 35 and an adjustment rod 36, the adjustment rod 36 moves linearly along the inner cavity of the cylinder 35, the end of the adjustment rod 36 is connected with the second ball pair 34, and the end of the cylinder 35 is connected with the first ball pair 33.
In the present embodiment, a simplified height adjustment device 32 is provided, and the structure of the device can be realized by using a cylinder or a hydraulic cylinder in the prior art, so that the control of the relative linear motion of the adjustment rod 36 with respect to the cylinder body 35 is more convenient and accurate. In the implementation process, referring to fig. 13, for example, when the first seat 21 is stationary, when the linear motion end 31 moves along a straight line, in view of the arrangement of the first ball pair 33 and the second ball pair 34, the left side of the tool holder body 1 in the figure rotates downward around the second revolute pair 24, i.e., rotates parallel to the X axis; in the process, the height of the height adjusting device 32 changes, and the tool holder body 1 can simultaneously rotate relative to the first revolute pair 23, namely, rotate parallel to the Y axis, in view of the change of the supporting direction of the tool holder body 1; when the first seat 21 and the linear motion end 31 are controlled to move simultaneously, the above technical effects can be achieved, and the adjustment of each power input quantization can achieve different control results, which need to be adjusted according to specific detection requirements.
In the above embodiments, the structural form of the guide rail guiding the first seat 21 and the linear motion end 31 is only one embodiment of the present invention, and is not a basis for limiting the protection scope of the present invention, and the structural form of the tool rest body 1 is also simplified, and is only used for explaining the motion form of the tool rest body 1.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The utility model provides a multistation power knife rest transfer appearance testing platform which characterized in that includes:
a tool holder body;
the first support part comprises a first seat body and a first rotating body, the first seat body moves along a straight line, the first rotating body is rotatably connected with the first seat body through a first rotating pair, the first rotating body is rotatably connected with the tool rest body through a second rotating pair, and the first rotating pair and the second rotating pair are relatively fixed;
the second support part comprises a linear motion end and a height adjusting device, the linear motion end moves along a straight line, one end of the height adjusting device is connected with the linear motion end through a first ball pair, and the other end of the height adjusting device is connected with the tool rest body through a second ball pair;
the first seat body and the linear guide structure at the linear motion end are relatively static and parallel; the linear motion of the first seat body and the linear motion end is carried out in the same static plane;
the axis of the first rotating pair is parallel to the static plane;
the height adjusting device comprises a cylinder body and an adjusting rod, the adjusting rod moves linearly along the inner cavity of the cylinder body, the tail end of the adjusting rod is connected with the second ball pair, and the tail end of the cylinder body is connected with the first ball pair;
in the implementation process, first pedestal is motionless, and linear motion end is along linear motion for the knife rest body rotates downwards around the second revolute pair, and height adjusting device takes place the altitude variation, makes the knife rest body rotate for first revolute pair simultaneously.
2. The multi-station power tool rest posture-adjusting detection platform according to claim 1, wherein the axes of the first rotating pair and the second rotating pair are vertically arranged.
3. The multi-station power tool rest posture-adjusting detection platform according to claim 2, wherein the first rotating pair and the second rotating pair are realized through a T-shaped structure.
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| CN202110303811.9A CN113043228B (en) | 2021-03-22 | 2021-03-22 | Multi-station power tool rest posture adjusting detection platform and control method thereof |
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Citations (3)
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|---|---|---|---|---|
| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| CN101259617A (en) * | 2008-03-31 | 2008-09-10 | 浙江理工大学 | Fork four-freedom parallel connection robot mechanism |
| CN111515926A (en) * | 2020-04-07 | 2020-08-11 | 上海工程技术大学 | Parallel robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004030659B8 (en) * | 2004-06-24 | 2007-01-18 | Ruprecht Altenburger | mover |
| CN104972453B (en) * | 2015-05-26 | 2016-09-28 | 韩方元 | A kind of multiple motion platforms parallel robot construction method and parallel robot thereof |
| CN105127979A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot mechanism |
| CN112025333A (en) * | 2020-08-28 | 2020-12-04 | 江苏银旭隧道机械有限公司 | Three-degree-of-freedom working platform for machining steel die |
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- 2021-03-22 CN CN202110303811.9A patent/CN113043228B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10019162A1 (en) * | 2000-04-12 | 2001-10-25 | Kai Anding | Movement system with cylindric glide has three linear drives, and fixed linear guide, work platform fixed to three ball and socket joints each with linear drive |
| CN101259617A (en) * | 2008-03-31 | 2008-09-10 | 浙江理工大学 | Fork four-freedom parallel connection robot mechanism |
| CN111515926A (en) * | 2020-04-07 | 2020-08-11 | 上海工程技术大学 | Parallel robot |
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Denomination of invention: A multi station dynamic tool holder attitude adjustment detection platform and its control method Granted publication date: 20220301 Pledgee: Zijin Trust Co.,Ltd. Pledgor: JIANGSU HONGDA NUMERICAL CONTROL SCIENCE & TECHNOLOGY Co.,Ltd. Registration number: Y2024980002870 |
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