CN1216718C - Parallel mechanism device of multiple shaft type machine tool - Google Patents
Parallel mechanism device of multiple shaft type machine tool Download PDFInfo
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- CN1216718C CN1216718C CN 02147142 CN02147142A CN1216718C CN 1216718 C CN1216718 C CN 1216718C CN 02147142 CN02147142 CN 02147142 CN 02147142 A CN02147142 A CN 02147142A CN 1216718 C CN1216718 C CN 1216718C
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- fixed platform
- kenel
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Abstract
The present invention relates to a parallel type mechanism device of a multi-shaft tool machine. The device is provided with a constraint mechanism combined to a fixed platform, and three driving shafts connected in parallel to the constraint mechanism and the fixed platform, wherein the constraint mechanism is provided with three linear independent sliding pairs to prevent a motion platform of the constraint mechanism only from generating translational motion freedom degrees in three directions. A CNC controller is utilized to control the rod length change or the position change of the three parallel driving shafts so as to achieve the efficiency for controlling the motion platform of the constraint mechanism to generate linear translational motion in three mutually orthogonal directions.
Description
Technical field
The present invention relates to a kind of parallel unit mechanism device that applies to multiaxis machine tool, especially can apply to three processed and applied separately, and only allow motion platform to carry out the novel multiaxis machine tool parallel unit mechanism device of linear displacement in the space.
Background technology
Continuous progress along with High-speed Machining Technology, tradition with series system with linear axes and rotating shaft in conjunction with the tandem mechanism arrangement toolroom machine of forming, its structural rigidity and travelling carriage high speed become the bottleneck of technical development gradually, therefore the designer begins to seek the possible machine configuration that other is suitable for high speed, and parallel unit mechanism device toolroom machine wherein promptly becomes excellent candidate target in the designer mind.Parallel unit mechanism device toolroom machine has advantages such as high rigidity, high accuracy, high speed, is suitable for high accuracy and high-speed cutting occasion; Parallel unit mechanism device toolroom machine is made five toolroom machines easily, the Mould Machining occasion that is suitable for the 3D curved surface, and parallel unit mechanism device toolroom machine still has advantages such as low cost of manufacture, assembling easily, easy maintenance, easy modularization, is suitable for DIY; Therefore, parallel unit mechanism device toolroom machine has become one of direction that the toolroom machine manufacturer falls over each other to develop in recent years.
The structural design of existing parallel unit mechanism device toolroom machine mainly is shown in No. 97229311 data such as patent of No. 4732525 patent of the U.S. and China; Wherein:
The parallel type three-axis motion platform of No. 4732525 patent of the U.S., be but that expansion link kinematic axis and a bindiny mechanism with three ACTIVE CONTROL connects to form with parallel way, existing bindiny mechanism is to use one and move pays (T to) and universal joint (RR to) to form, this bindiny mechanism allows motion platform have three freedoms of motion of TRR pattern, and (T represents linear move (translation), R represent to rotatablely move (rotation)), because this bindiny mechanism has the free degree of rotation, so the angle orientation of motion platform (orientation) can continue to change when working space.Precisely because the bindiny mechanism of parallel kinematic platform is using in the enforcement, remains at least in following several shortcomings:
1. can't apply to the toolroom machine of three processing separately: be subject to three parallel kinematic platforms and have the free degree of rotation, the kinematic axis of its two frees degree of must arranging in pairs or groups again, cause application to be confined to the processing kenel of five toolroom machines, can't apply to the toolroom machine of three processing separately, because costing an arm and a leg of five toolroom machines is also inapplicable in the occasion of three toolroom machines of many need.
2. the rigidity of the universal joint of bindiny mechanism is difficult for promoting: the bindiny mechanism of its three parallel kinematic platforms is to use universal joint, because the accuracy of manufacture and the rigidity of universal joint are relatively poor, causes the rigidity of toolroom machine to be restricted easily.
3. the kinematic accuracy of motion platform is wayward: its three parallel kinematic platforms are as the feedback control signal of motion platform, mainly be to measure the control signal of three motor messages of TRR of bindiny mechanism as three active expansion links, but be to use rotating signal (rotation signal) as the shortcoming of feedback signal to be: the foozle of universal joint or the rotating signal that stress deformation produced can be restrained long amplification of bar of bar, cause the kinematic accuracy of motion platform wayward.
The parallel type three-axis motion platform of No. 97229311 patent of China, its operation principles is similar to the design of aforesaid U.S. Patent, both difference is that its bindiny mechanism is to use similar parallel four-bar linkage principle, the principle that these parallel four connecting rods are the omnipotent drawing equipments of similar tradition, form parallel four-bar linkage by swivel joint and rod member, the free degree that can the constrained motion platform is translational motion and can not rotating, the advantage of No. 97229311 patent of China is can be independently as three toolroom machines, precisely because the shortcoming of structural design and being restricted to:
1. the rigidity of bindiny mechanism is difficult for promoting: its bindiny mechanism is made up of parallel four connecting rods of three-dimensional, whole bindiny mechanism establishes has many swivel joints, allow the rigidity of bindiny mechanism be subject to the rigidity of swivel joint easily, cause the rigidity of toolroom machine to be difficult for promoting, the power streamline of its bindiny mechanism is long than the power streamline of the bindiny mechanism of aforesaid U.S. Patent, and further the rigidity to toolroom machine produces negative influence.
2. the kinematic accuracy of motion platform is wayward: its bindiny mechanism is provided with many swivel joints, because the foozle of swivel joint or error that stress deformation produced can be amplified by bar is long, cause the kinematic accuracy of toolroom machine motion platform wayward.
Summary of the invention
For the shortcoming of the parallel unit mechanism device design that overcomes existing toolroom machine with not enough, the invention provides a kind of parallel unit mechanism device of multiaxial type toolroom machine, the parallel unit mechanism device of this multiaxial type toolroom machine can be used in three processed and applied separately, and has characteristics such as high rigidity and pinpoint accuracy.
Further aim of the present invention provides a kind of parallel unit mechanism device of multiaxial type toolroom machine, and the parallel unit mechanism device of this multiaxial type toolroom machine can carry out real-time (real-time) or online (on-line) mode and control or compensate position errors such as making assembly error, thermal deformation and stress deformation.
For reaching above-mentioned purpose, the technical scheme that technical solution problem of the present invention is adopted is: the main formation of the present invention comprises:
One is located at the fixed platform of toolroom machine;
One is incorporated into the bindiny mechanism of fixed platform: this bindiny mechanism is provided with independently mobile pair of three linearities, can only produce the translational motion free degree of three directions with respect to fixed platform in order to restriction bindiny mechanism, free end in bindiny mechanism is provided with a motion platform, is provided with the main shaft of installing for cutter in this motion platform;
Three are connected with in the driving shaft of bindiny mechanism and fixed platform with kenel in parallel: first end of each driving shaft is the motion platform that spherojoint is linked to bindiny mechanism respectively, and second end of each driving shaft is to be center and be linked to fixed platform with spherojoint or universal joint with the bindiny mechanism.
The present invention further moves in each of bindiny mechanism and pays and three equal sensor installations of driving shaft, two class feedback signals of CNC controller controlled motion position of platform are provided simultaneously, the mechanism kinematic equation that cooperates triaxial movement platform can be used as the usefulness of the compensation correction of parallel unit mechanism geometric parameter.
The invention has the beneficial effects as follows:
1. can be used in three processed and applied separately: the present invention can utilize the CNC controller to control long the variation or change in location of bar of the driving shaft of three parallel connections, control connection motion of mechanism platform produces the linear translation motion in three mutually orthogonal directions, angle orientation (orientation) that not only can the constrained motion platform can not change when working space, allow the present invention can be used in three toolroom machines separately, and allow the more existing bindiny mechanism of whole rigidity be good.
2. allow bindiny mechanism have high rigid characters: bindiny mechanism of the present invention moves to pay by linearity and forms, and compared to the right bindiny mechanism of existing tool rotation, the present invention has preferable rigidity.
3. allow bindiny mechanism have the characteristics of pinpoint accuracy: the present invention can move in each of bindiny mechanism and pay or three driving shafts sensor installations respectively, the feedback signal of CNC controller controlled motion position of platform is provided, motion control signal as three driving shafts, owing to do not have resolution ratio and the error scale-up problem of existing bindiny mechanism, can significantly promote control accuracy because of swivel joint.
4. the function of proofreading and correct position error with real-time or online mode is provided: the present invention can move in each of bindiny mechanism and pay and three equal sensor installations of driving shaft, two class feedback signals of CNC controller controlled motion position of platform position error are provided, the mechanism kinematic inverse conversion equation that cooperates triaxial movement platform reaches with offline mode aligning gear assembly error parameter or with the thermal deformation of online mode real-Time Compensation, axle is stressed or motion is caused position error.
Description of drawings
Fig. 1 is the composite construction schematic diagram of first embodiment of the invention;
Fig. 2 is the structural map of the bindiny mechanism of first embodiment of the invention;
Fig. 3 is the structural map of the driving shaft of first embodiment of the invention;
Fig. 4 is that the first embodiment of the invention utilization is the application of first kind of five toolroom machine kenel
Implement illustration;
Fig. 5 is that the first embodiment of the invention utilization is the application of second kind of five toolroom machine kenel
Implement illustration;
Fig. 6 is the composite construction schematic diagram of second embodiment of the invention;
Fig. 7 is the composite construction schematic diagram of third embodiment of the invention.
The specific embodiment
Describe the specific embodiment of the present invention in detail below in conjunction with drawings and Examples.
First embodiment as shown in Figure 1, the formation of this parallel unit mechanism device comprises:
One is installed on the frame 10 of toolroom machine, and this frame 10 is provided with the pedestal 11 of a level, is provided with a workbench 15 of settling for workpiece in the end face central authorities of this pedestal 11, and this workbench 15 can be made as slidably or tradable pattern, so that the arrangement of workpiece; Again with equal angles at interval kenel be installed with three beam columns that stand vertically 12 in pedestal 11 near peripheral position, again a fixed platform 13 is fixedly arranged on the top of these three beam columns 12 with horizontal kenel, the middle position of this fixed platform 13 offers a frame hole 14;
One is incorporated into the bindiny mechanism 20 of fixed platform with vertical kenel: as shown in Figure 1, 2, this bindiny mechanism 20 is provided with one perpendicular to fixed platform 13 and be the jack-post 21 of sliding bar structure, the top of this jack-post 21 is arranged in the ball axle sleeve 22 with kenel slidably, this ball axle sleeve 22 is fixedly arranged on a slide 25, these jack-post 21 bottoms are provided with a motion platform 23, being provided with one again in the bottom of this motion platform 23 can be for the main shaft 24 of process tool installation, and the proper correspondence in the position of this main shaft 24 is located at the workbench 15 of pedestal 11;
Three are connected with the driving shaft 30 with fixed platform 13 in bindiny mechanism 20 with kenel in parallel: shown in Fig. 1,3, each driving shaft 30 is provided with a ball screw 31, be arranged with a ball nut 33 in ball screw 31, this ball nut 33 sets firmly a spring bearing group 35, this spring bearing group 35 is provided with a servo motor 36, and can utilize a belt pulley set 34 to drive ball nut 33 and rotate, this servo motor 36 is connected with the controller in the CNC of toolroom machine with circuit;
Brought forward is described, ball screw 31 first ends of three driving shafts 30 are to utilize a spherojoint 32 to be linked to the motion platform 23 of bindiny mechanism 20 respectively with equal angular interval kenel, the spring bearing group 35 of three driving shafts 30 is to utilize universal joint 37 to be connected with in fixed platform 13 with rotatable kenel respectively, it is the center with bindiny mechanism 20 that three driving shafts 30 are connected with in the position of fixed platform 13, and keeps equidistant, equal angular interval kenel.
As shown in Figure 1, the jack-post 21 of bindiny mechanism 20 of the present invention vertically is arranged in the ball axle sleeve 22 of slide 25 with kenel slidably, and but slide 25 is incorporated into fixed platform 13 with the two-direction moving kenel, allow the motion platform 23 of bindiny mechanism 20 produce the linear translation motion in three mutually orthogonal directions, the servo motor 36 that can utilize simultaneously the CNC controller of toolroom machine to control the driving shaft 30 of three parallel connections changes long variation of bar of driving shafts 30, the linear translation motion of 23 3 mutually orthogonal directions of controlled motion platform; So, the angle orientation that the present invention not only can limit the motion platform 23 of bindiny mechanism 20 can not change when working space, can be used in three toolroom machines separately, and allow the right bindiny mechanism of the existing tool rotation of rigidity of bindiny mechanism 20 of the present invention be good.
The present invention can move in three on first guide rail 251 of the jack-post 21 of bindiny mechanism 20, slide 25 and second guide rail 253 etc. and pay, the sensor of connectivitv tool machine CNC controller is installed, provide the feedback signal of CNC controller controlled motion platform 23 positions, as the motion control signal of three driving shafts 30; Again, the present invention can install the sensor of connectivitv tool machine CNC controller in three driving shafts 30 respectively, how much variable signals such as long variation of the bar of measurement driving shaft 30 or angle variation, provide the feedback signal of CNC controller controlled motion platform 23 positions, as the motion control signal of three driving shafts 30.
Aforesaid two classes control signal source can independently be used, that is only need use bindiny mechanism's 20 signal sources or only need use three driving shaft 30 signal sources, can provide the CNC controller to come the motion of controlled motion platform 23, because the not existing bindiny mechanism of structural design of the present invention because of the resolution ratio and the error scale-up problem of swivel joint, can significantly promote the control accuracy of parallel unit mechanism device.
The present invention can further merge use with aforesaid two class control signal sources, also three of bindiny mechanism 20 mobile ship dynamic survey signal and three driving shaft 30 how much variable signals merging uses soon, the feedback signal of CNC controller controlled motion platform 23 positions is provided simultaneously, utilize how much simultaneous equations of triangle of triaxial movement platform 23 mechanism kinematics, cooperate the utilization of the numeric value analysis method and the nonlinear least square theory of error, solve motion platform 23 positions and the compensation correction of comparing that two class control signal sources calculate respectively by the CNC controller, allow parallel unit mechanism device of the present invention have mode, control or compensate the manufacturing assembly error with real-time real-time or online on-line, position error such as thermal deformation and stress deformation.
As shown in Figure 4, parallel unit mechanism device of the present invention can be established a two-way rotating shaft 26 again in the motion platform 23 of bindiny mechanism 20, and will be located at this two-way rotating shaft 26 for the main shaft 24 that process tool is installed, allow parallel unit mechanism device of the present invention be applied as a kind of five toolroom machine kenels.
As shown in Figure 5, parallel unit mechanism device of the present invention can be established the rotatable platform 16 of the two-way free degree of a tool again in the workbench 15 of being located at pedestal 11, allows parallel unit mechanism device of the present invention be applied as a kind of five toolroom machine kenels.
Second embodiment of the invention as shown in Figure 6, the 20A of bindiny mechanism of this preferred embodiment is provided with one can supply motion platform 23 jack-post 21A in axial sliding, the top of this jack-post 21A is fixedly arranged on a slide 25, these slide 25 sliding establishing are snapped at unidirectional slide block 254 corresponding first guide rails 251 that set firmly, sliding again second guide rail 253 that is snapped at the opposite position that is installed in fixed platform 13 bottom surfaces of establishing of this unidirectional slide block 254, this second guide rail 253 and first guide rail 251 are the mutually orthogonal kenel, but allow slide 25 be incorporated into the bottom surface of fixed platform 13 with the two-direction moving kenel;
The driving shaft 30A of this second embodiment is provided with a telescopic axostylus axostyle 31A who can be kenels such as oil hydraulic cylinder, first end of this telescopic axostylus axostyle 31A utilizes a spherojoint 32 to be linked to the motion platform 23 of bindiny mechanism 20, and second end of this telescopic axostylus axostyle 31A is to utilize a universal joint 37 to be connected with in fixed platform 13 equally.
The 3rd embodiment as shown in Figure 7, the design of the 20A of its bindiny mechanism is same as second embodiment as shown in Figure 6, holds and does not give unnecessary details; The driving shaft 30B of the 3rd embodiment is provided with the axostylus axostyle 31B of a regular length, first end of this axostylus axostyle 31B utilizes a spherojoint 32 to be linked to the motion platform 23 of bindiny mechanism 20, second end of this axostylus axostyle 31B utilizes a universal joint 37 to be fixedly arranged on a bearing 38, and this bearing 38 is incorporated into the guide rail 382 of fixed platform 13 opposite positions with kenel slidably.
Claims (10)
1. the parallel unit mechanism device of a multiaxial type toolroom machine, it includes: a fixed platform, is incorporated into the bindiny mechanism of fixed platform and three and is connected with in the driving shaft of bindiny mechanism and fixed platform with kenel in parallel, it is characterized in that:
Described fixed platform is fixedly arranged on the toolroom machine of a tool CNC controller;
Described bindiny mechanism is provided with independently mobile pair of three linearities, in order to limit this bindiny mechanism can only produce three directions with respect to fixed platform the translational motion free degree, free end in this bindiny mechanism is provided with a motion platform, is provided with the main shaft of installing for cutter in this motion platform;
First end of described three driving shafts is motion platforms that spherojoint is linked to bindiny mechanism respectively, and second end of three driving shafts is to be center and be linked to fixed platform with universal joint with the bindiny mechanism.
2. the parallel unit mechanism device of multiaxial type toolroom machine according to claim 1, it is characterized in that, described bindiny mechanism is provided with one perpendicular to fixed platform and be the jack-post of sliding bar structure, this jack-post is arranged in a ball axle sleeve with kenel slidably, this ball axle sleeve is fixedly arranged on a slide, this slide is a rectangular panel blocks, be provided with four first guide rails that are parallel to each other in the quadripolar corners position of slide, be respectively equipped with four in the opposite position of fixed platform and form second guide rail of mutually orthogonal with aforementioned first guide rail, utilize four sliding respectively establishing to be snapped at corresponding first, the bidirectional slider of two guide rails, but allow slide be incorporated into fixed platform with the two-direction moving kenel.
3. the parallel unit mechanism device of multiaxial type toolroom machine according to claim 1, it is characterized in that, described bindiny mechanism is provided with one can supply motion platform jack-post in axial sliding, the top of this jack-post is fixedly arranged on a slide, this slide cunning is established and is snapped at corresponding first guide rail that sets firmly of a unidirectional slide block, this unidirectional slide block cunning is established second guide rail that is snapped at the opposite position that is installed in fixed platform, this second guide rail and first guide rail are the mutually orthogonal kenel, but allow slide be incorporated into fixed platform with the two-direction moving kenel.
4. according to the parallel unit mechanism device of claim 1 or 2 or 3 described multiaxial type toolroom machines, it is characterized in that, described bindiny mechanism establishes a two-way rotating shaft in motion platform, described main shaft is located at this two-way rotating shaft, described fixed platform is fixedly arranged on three beam column tops that stand vertically, the bottom of these three beam columns is fixedly arranged on a pedestal, and the end face of this pedestal is provided with a workbench corresponding to bindiny mechanism's main shaft, establishes the rotatable platform of the two-way free degree of a tool in this workbench.
5. according to the parallel unit mechanism device of claim 1 or 2 or 3 described multiaxial type toolroom machines, it is characterized in that, described driving shaft is provided with a ball screw, be arranged with a ball nut in ball screw, this ball nut sets firmly a spring bearing group, this spring bearing group is provided with a servo motor and drives ball nut with a belt pulley set, and this servo motor is connected with the controller in CNC with circuit.
6. the parallel unit mechanism device of multiaxial type toolroom machine according to claim 5, it is characterized in that, first end of the ball screw of described three driving shafts utilizes a spherojoint to be linked to the motion platform of bindiny mechanism with equal angular interval kenel, the spring bearing group of three driving shafts utilizes universal joint to be connected with in fixed platform with rotatable kenel, and equidistant, the equal angular interval kenel that with the bindiny mechanism is that the center keeps.
7. according to the parallel unit mechanism device of claim 1 or 2 or 3 described multiaxial type toolroom machines, it is characterized in that, described driving shaft is provided with a telescopic axostylus axostyle, first end of this telescopic axostylus axostyle utilizes a spherojoint to be connected with motion platform in bindiny mechanism with rotatable kenel, and second end of this telescopic axostylus axostyle utilizes a universal joint to be connected with in fixed platform with rotatable kenel.
8. according to the parallel unit mechanism device of claim 1 or 2 or 3 described multiaxial type toolroom machines, it is characterized in that, described driving shaft is provided with the axostylus axostyle of a regular length, first end of this axostylus axostyle utilizes a spherojoint to be linked to the motion platform of bindiny mechanism, second end of this axostylus axostyle utilizes a universal joint to be fixedly arranged on a bearing, and this bearing is incorporated into the guide rail of fixed platform opposite position with kenel slidably.
9. the parallel unit mechanism device of multiaxial type toolroom machine according to claim 1, it is characterized in that, described bindiny mechanism moves to pay in three and is separately installed with the sensor that can measure the linear displacement amount, the CNC controller of each sensor connectivitv tool machine provides the feedback signal of CNC controller controlled motion position of platform.
10. according to the parallel unit mechanism device of claim 1 or 9 described multiaxial type toolroom machines, it is characterized in that, described three driving shafts are separately installed with can measurement length, the sensor of angle and change in location, the CNC controller of each sensor connectivitv tool machine provides the feedback signal of CNC controller controlled motion position of platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02147142 CN1216718C (en) | 2002-10-23 | 2002-10-23 | Parallel mechanism device of multiple shaft type machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02147142 CN1216718C (en) | 2002-10-23 | 2002-10-23 | Parallel mechanism device of multiple shaft type machine tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1491775A CN1491775A (en) | 2004-04-28 |
| CN1216718C true CN1216718C (en) | 2005-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02147142 Expired - Fee Related CN1216718C (en) | 2002-10-23 | 2002-10-23 | Parallel mechanism device of multiple shaft type machine tool |
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| CN (1) | CN1216718C (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100402245C (en) * | 2006-04-05 | 2008-07-16 | 浙江工业大学 | Tri-translational freedom-degree parallel mechanism only containing revolving pair |
| CN101579828B (en) * | 2009-06-11 | 2011-09-14 | 清华大学 | Parallel 3-DOF drive mechanism of spindle head |
| CN102581848B (en) * | 2012-03-21 | 2014-04-30 | 天津大学 | Parallel positioning platform with three-rotation one-translation freedom degree |
| CN104589332B (en) * | 2015-01-24 | 2016-01-20 | 江西省机械科学研究所 | The swingable parallel electric cylinder synchronous telescoping mechanism of V belt translation formula |
| CN104589323B (en) * | 2015-01-24 | 2016-01-20 | 江西省机械科学研究所 | Band drives electric cylinder space four mobility manipulator |
| CN105364913B (en) * | 2015-11-25 | 2017-03-22 | 燕山大学 | Five-degree-of-freedom hybrid robot based on 2R1T parallel mechanism |
| CN106737599B (en) * | 2017-01-16 | 2019-03-05 | 安徽工业大学 | A kind of moving platform mechanism equipped with ball-screw |
| CN107322110B (en) * | 2017-07-17 | 2019-02-26 | 中北大学 | A kind of ultrasonic edm combined machining spindle device and its control method |
| CN107981974A (en) * | 2017-11-08 | 2018-05-04 | 中国计量大学 | A kind of Prebending type artificial cochlea electrode is implanted into robot platform automatically |
| CN107891385B (en) * | 2017-11-08 | 2019-08-30 | 弗埃斯工业技术（苏州）有限公司 | The spherical fixed device of materials and parts |
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2002
- 2002-10-23 CN CN 02147142 patent/CN1216718C/en not_active Expired - Fee Related
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| CN1491775A (en) | 2004-04-28 |
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