CN1355083A - Five-coordinate numerally controlled machine tool based on 3-freedom parallel mechanism - Google Patents

Abstract

A five-coordinate numerical control machine tool based on a three-degree-of-freedom parallel mechanism, consisting of a three-degree-of-freedom parallel mechanism, a gantry frame, and a workbench installed on the bed, wherein the three-degree-of-freedom parallel mechanism is installed on the gantry frame through a slideway, and consists of three It is composed of a transmission rod, a motion platform with a tool spindle, and guide rails. One end of the transmission rod is installed on the motion platform through a ball joint, and the other end is connected to the slider through a rotating pair. The sliders are respectively installed on the guide rails. The platform is installed obliquely, and the other ends are fixedly connected to each other; a slideway is set between the worktable and the bed in the X-axis direction. The utility model has the advantages of simple structure, high fretting precision and large operation space.

Description

A five-axis CNC machine tool based on a three-degree-of-freedom parallel mechanism

The invention relates to a processing equipment in the machinery manufacturing industry, in particular to a five-coordinate numerical control machine tool based on a three-degree-of-freedom parallel mechanism.

The existing machine tools have complete series and varieties. Its structure is mainly composed of bed, column, guide rail and beam, etc., mostly in series structure. The disadvantages of this type of machine tool are bulky mechanism, many parts, long transmission chain, bulky, complex structure, and high cost, especially on multi-axis machine tools. The force and thermal deformation of each part of the machine tool are not uniform, and the effects of tension, compression, bending, torsion and moment during the machining process cause the machine tool to vibrate, resulting in reduced machining accuracy. In addition, the components are heavy and bulky, which limits the speed and acceleration during the cutting process. Since the 1990s, some research institutions at home and abroad have introduced parallel machine tools that only use parallel mechanisms, but their working space is small, which limits their applications.

In order to solve the above-mentioned shortcomings, the object of the present invention is to provide a five-coordinate numerical control machine tool based on a three-degree-of-freedom parallel mechanism with flexible mechanism, simple structure, high micro-motion precision, and large operating space, which can realize complex profiles and various It can also be used as a multi-coordinate measuring machine for processing special-shaped curved surfaces.

The object of the present invention is achieved like this: it comprises bed, is made up of three-degree-of-freedom parallel mechanism, gantry frame, the workbench that is installed on the bed, and wherein three-freedom parallel mechanism is installed on the gantry frame by slideway, consists of three It is composed of transmission rod, motion platform, slider, guide rail and fixed platform. One end of the transmission rod is installed on the motion platform through a ball joint, and the other end is connected with the slider through a rotating pair. The sliders are respectively installed on the guide rails. It is installed obliquely with the fixed platform, and the other ends are fixedly connected to each other. The tool spindle is provided on the moving platform; a slideway is provided between the worktable and the bed in the X-axis direction;

In addition, the slider is connected with a linear motor, or connected with a rotary motor with a ball screw through a nut; the guide rail and the fixed platform can be installed vertically; the slide rail between the workbench and the bed can be ring-shaped .

In addition to simple structure, low cost and small volume, the present invention also has the following advantages:

1. High processing precision. The invention uses a three-degree-of-freedom parallel mechanism to realize the A, B double pendulum and Z-direction movement of the tool spindle, and the tool system has high rigidity, strong load capacity, and high fretting precision;

2. Large operating space. The invention separates the Y-axis lateral feed motion and the X-axis front-rear feed motion of the tool spindle from the motion platform, and implements the reciprocating motion of the three-degree-of-freedom parallel mechanism on the gantry frame and the reciprocating motion of the worktable respectively, expanding the machine tool At the same time, it makes the operation convenient, the clamping is flexible, and the five-dimensional operation can be realized;

3. Wide range of applications. The invention has strong adaptability to the workpiece, and the processing object can be a plane or a curved surface, can realize milling, drilling, grinding, polishing and other processes, and can also be used as a multi-coordinate measuring machine.

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a structural schematic diagram of another embodiment of the present invention;

Fig. 3 is the structural representation of the third embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a fourth embodiment of the present invention;

Fig. 5 is a coordinate direction diagram of the working principle of the present invention.

Below in conjunction with accompanying drawing, the present invention is described in further detail:

Example 1:

As shown in Figures 1 and 5, it is a schematic structural diagram of a five-coordinate CNC machine tool based on a three-degree-of-freedom parallel mechanism of the present invention, which consists of a three-degree-of-freedom parallel mechanism 1, a gantry frame 2, and a workbench 3 installed on the bed 4, wherein The three-degree-of-freedom parallel mechanism 1 is installed on the upper beam of the gantry frame 2 through a slideway, and is composed of three transmission rods 12, a moving platform 14, a slider 16, a guide rail 17, and a fixed platform 18. One end of the transmission rod 12 passes through a ball joint 13 Installed on the motion platform 14, the other end is connected with the slider 16 through the rotating pair, the slider 16 is respectively installed on the guide rail 17, one end of the guide rail 17 is installed obliquely with the motion platform 14, and the other end is fixedly connected with each other, the three guide rails 17 joints form a plane, and the moving platform 14 is provided with a tool spindle 15; a slideway is provided between the workbench 3 and the bed 4 in the X-axis direction, and the workbench 3 is arranged in the X-axis direction along the slideway. The upper horizontal movement; the slide block 16 is connected with the linear motor.

Its working principle is:

As shown in Figure 5, the slide block 16 driven by the linear motor moves on the guide rail 17, and the slide block 16 drives each transmission rod 12; degrees, that is, the degrees of freedom of rotation around the X-axis and Y-axis, and the degrees of freedom of moving up and down along the Z-axis. The three-degree-of-freedom parallel mechanism 1 is installed on the crossbeam of the gantry frame 2 through the slideway. Driven by the motor, it can reciprocate laterally along the slideway of the crossbeam in the Y-axis direction. The processed workpiece is fixed on the X-axis under the drive of the servo motor. On the table 3 that reciprocates back and forth in the axial direction, the tool spindle is fixedly installed on the motion platform 14 of the three-degree-of-freedom parallel mechanism 1, so as to realize the five-coordinate feed motion of the tool spindle relative to the workpiece (X-axis movement, Y-axis movement, The Z axis moves, the A axis rotates, and the B axis rotates).

Example 2:

As shown in Figure 2, the difference between the present invention and Embodiment 1 is: the slide rail between the workbench 3 and the bed 4 is annular, and the workbench 3 rotates on the machine bed 4, so the workbench 3 The rotation around the Z axis is used instead of the forward and backward reciprocating movement along the X axis, so that the five-coordinate motion of the tool spindle (relative to the workpiece) is realized, namely: Y axis movement, Z axis movement, A axis rotation, B axis rotation, The C axis rotates.

Example 3:

As shown in Figure 3, the difference between the present invention and Embodiment 1 is: the three-degree-of-freedom parallel mechanism 1 is installed on the side column of the gantry frame 2 through a slideway, and the guide rail 17 of the present invention can also be perpendicular to the fixed platform 18 Installation, the transmission rod 12 is connected with the slide block 16 inside the guide rail 17; the slide block 16 is connected with a rotary motor with a ball screw through a nut.

Example 4

As shown in FIG. 4 , the difference from Embodiment 3 is that the slide rail between the workbench 3 and the bed 4 is circular, and the workbench 3 rotates on the machine bed 4 .

The guide rail 17 of the present invention can also be vertically installed with the fixed platform 18, and the transmission rod 12 is connected with the slide block 16 inside the guide rail 17.

Claims (5)

1. A five-coordinate numerically controlled machine tool based on a three-degree-of-freedom parallel mechanism, comprising a bed, is characterized in that: a three-degree-of-freedom parallel mechanism (1), a gantry frame (2), a working machine installed on the bed (4) platform (3), in which the three-degree-of-freedom parallel mechanism (1) is installed on the gantry frame (2) through a slideway, and consists of three transmission rods (12), a motion platform (14), a slider (16), and a guide rail (17 ), a fixed platform (18), one end of the transmission rod (12) is installed on the motion platform (14) through a ball joint (13), and the other end is connected with the slider (16) through a rotating pair, and the slider (16) Installed on the guide rails (17) respectively, one end of the guide rails (17) is installed obliquely with the fixed platform (18) respectively, and the other ends are fixedly connected to each other, and the moving platform (14) is provided with a tool spindle (15); A slideway is provided in the X-axis direction between the workbench (12) and the bed (4). 2. According to the five-coordinate CNC machine tool based on the three-degree-of-freedom parallel mechanism according to claim 1, it is characterized in that: the three-degree-of-freedom parallel mechanism (1) is installed on the upper beam or side column of the gantry frame (2) through a slideway . 3. According to the five-coordinate numerical control machine tool based on the three-degree-of-freedom parallel mechanism according to claim 1, it is characterized in that: the slide block (16) is connected with a linear motor, or connected with a rotary motor with a ball screw through a nut. connect. 4. The five-coordinate numerical control machine tool based on a three-degree-of-freedom parallel mechanism according to claim 1, 2 or 3, wherein the guide rail (17) is vertically installed with the fixed platform (18). 5. According to claim 1, 2 or 3, the five-coordinate numerical control machine tool based on the three-degree-of-freedom parallel mechanism is characterized in that: the slide rail between the worktable (3) and the bed (4) is ring-shaped.

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