CN1358609A - Mixed connection based virtual axle machine tool - Google Patents
Mixed connection based virtual axle machine tool Download PDFInfo
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- CN1358609A CN1358609A CN 00120604 CN00120604A CN1358609A CN 1358609 A CN1358609 A CN 1358609A CN 00120604 CN00120604 CN 00120604 CN 00120604 A CN00120604 A CN 00120604A CN 1358609 A CN1358609 A CN 1358609A
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Abstract
The new structure of virtual shaft machine tool includes fixing platform, moving platform for holding mounting cutter, bidirectional moving mechanism capable of moving along X direction and Y direction and working table for holding workpiece to be cut, the fixed platform and moving platform are coupled by means of four legs, the change of extension quantity of peripheral three legs can control form of cutter mounted on moving platform, and the change of central leg extension quantity and coordination of it with bidirectional moving mechanical capable of moving along X and Y direction can control position of cutter so as to implement 6-shaft coupling machining.
Description
The invention belongs to Digit Control Machine Tool manufacturing technology field, particularly belong to a kind of virtual-axis nc machine tool.In machinery manufacturing technology field, the frame for movement of traditional Digit Control Machine Tool is to arrange member along X, the Y of flute card (right angle) coordinate system, Z axle, and member is connected in series.This in-line structural design makes lathe be easy to generate error accumulation, reduce machining accuracy, because member is except tension, pressure, also be subjected to moment of flexure, moment of torsion, make the integral rigidity of lathe reduce, in order to guarantee the integral rigidity of system, the parts of lathe are all made very thickly, thereby have caused the deterioration of Machine Tool Dynamics performance.Especially when machine tool motion speed height, when workpiece is big, these shortcomings are just more outstanding.
In order to satisfy to complicated day by day requirement of processing parts shape and special processing request, the new construction of virtual-axis nc machine tool has appearred in recent years, and virtual-shaft machine tool is the product that Robotics combines with the machine tool structure technology.The control system of traditional machine tool is at rectangular coordinate system, i.e. X, Y, three one-movement-freedom-degrees of Z and A, B, three rotational freedoms of C, and the controller of virtual-shaft machine tool is at each controlled axle.For a certain spatial pose requirement of cutter, exist corresponding telescopic shaft length or sliding axle slide position corresponding with it.Be that virtual-shaft machine tool is realized processing request by control telescopic shaft length or slide position.With the cutter pose that rectangular coordinate system is described, concerning this lathe, become description, and the length of telescopic shaft or slide position are only its working control axle, so be called virtual-shaft machine tool again to imaginary axis system.At present the prototype of virtual-shaft machine tool mostly is 6-SPS mechanism greatly, owing to be connected by 6 retractable spindle between pedestal and the platform of principal, so be called parallel institution again, determines the motion of platform as stretching motion by 6 bars with intercoupling simultaneously.The stressed of platform of principal shared by 6 bars, so every bar is stressed much smaller, and only is subjected to pulling force or pressure, is not subjected to moment of flexure or moment of torsion, so the rigidity height, the moving-member quality is little, simple in structure and identical parts quantity becomes the outstanding advantage of parallel institution more.But based on the virtual-shaft machine tool of 6-SPS parallel institution also exist working space little, be difficult to realize high inclination-angle processing and shortcomings such as numerical control programming complexity and difficulty.Find by analyzing: for general direct virtual-shaft machine tool based on the 6-SPS parallel institution, the suitable exercise scope of its rotational coordinates (has only 20～30 degree usually than conventional five-coordinate numerally controlled machine tool is much smaller, and five coordinate lathes can reach more than 90 degree), and along with the effective working space that senior general reduces lathe significantly that adds of the anglec of rotation.Add that position and attitude intercouple, its numerical control programming is very complicated, and therefore, common virtual-shaft machine tool not too is fit to the part that machining large has complex-curved class.
The objective of the invention is to overcome the weak point of prior art, use for reference the advantage of traditional Digit Control Machine Tool and existing virtual-shaft machine tool, cascaded structure and parallel-connection structure are organically blended, and design a kind of have simple in structure, processing flexibly, machining accuracy is high, process velocity is fast, processing technology is good, position and advantages such as attitude decoupling and numerical control programming make things convenient for, and can satisfy the user to large-scale virtual-axis nc machine tool with multi-axis linkage numerical control processing request of complex-curved class part.
The virtual-shaft machine tool structure of the present invention's design, comprise fixed platform, the moving platform of cutting tool is installed, can be along X, the two-way travel mechanism that the Y direction moves, installation is cut the workbench of workpiece, link by 4 legs between fixed platform and the moving platform, form space closed linkage in parallel, article 4,1 leg in the leg is positioned at the centre position, around other 3 legs are positioned at, and become the setting of plane triangle layout, 3 legs link to each other with fixed platform by a kind of in Hooke's hinge and the ball pivot around said, link to each other with moving platform by ball pivot, 1 leg one end in said centre and fixed platform rigidity connect firmly, the other end links by ball pivot and moving platform, and 4 legs all contain moving sets and drive.Said can be structurally separate with this closed linkage along the two-way travel mechanism that X, Y direction move, in control, carry out interlock control.
In order to realize the foregoing invention purpose better, also can further take following technical measures:
Said can the be made up of servomotor, guide rail, ball-screw, ball nut along the two-way travel mechanism that X, Y direction move is can realize along the translation of X, Y direction.
3 legs are driven by a kind of moving sets in interior moving sets and the outer moving sets around said, and 1 leg in said centre is driven by interior moving sets.
The structure that said workbench can be designed to make workbench to move along X, Y direction.
The center design of the moving platform of said mounting cutter is useful on the cavity that main shaft driving device is installed.
Said 4 leg drive units be the hydraulic jack drive unit with the drive unit that constitutes by servomotor and turn-screw nut in a kind of.
3 legs can be designed to connecting-rods with constant lengh around said, and an end links by Hooke's hinge and slide block, and slide block is driven by the feed screw nut that servomotor drives.
One of feature of the present invention is: moving platform links by 3 ball pivots and 3 legs on every side, the center of moving platform links by the middle leg that a ball pivot and an end rigidity connect firmly at the fixed platform center, formed space closed linkage in parallel, this closed linkage has very high rigidity, thereby has guaranteed the machining accuracy of lathe effectively.
Two of feature of the present invention is: cutting force is evenly distributed on 4 legs, add the moving platform ball pivot triangular layout intrinsic stability, make this structure have good seismic resistance and cutting stability.
Three of feature of the present invention is: around changing during the stroke of 3 legs, the motion of moving platform is to be the spheric motion of the centre of sphere with moving platform center ball pivot, calculate by analysis and show, the flexibility of this structure moving platform is good, (analysis result shows can to obtain bigger attitude angle, the attitude angle maximum can reach 75 °), can realize high inclination-angle processing.Make that this lathe applicable surface is wider, working ability is stronger.
Four of feature of the present invention is: because the position that moving platform is mainly realized the attitude and the Z direction of cutter, and the position of X, Y direction is mainly by realizing along the two-way travel mechanism that X, Y direction move, the range of work of lathe depends on the range of movement of two-way travel mechanism to a great extent, so this lathe is applicable to the processing of heavy parts.
Five of feature of the present invention is: the center design of moving platform is useful on the cavity that main shaft driving device is installed, and has reduced the quality of moving platform, helps improving the dynamic property of moving platform.
Six of feature of the present invention is: owing to ball pivot, Hooke's hinge manufacturing all are easy to, 3 leg structures are identical on every side, and the structure of middle 1 leg is similar with the structure of 3 legs on every side, and the structure of moving platform is also simpler, bring convenience therefore for the processing and manufacturing of lathe, be convenient to standardized production.
Seven of feature of the present invention is: virtual-shaft machine tool of the present invention is compared with the virtual-shaft machine tool of 6-SPS type to have that working space is big, position and attitude decoupling, can realize advantages such as high inclination-angle processing and numerical control programming be easy, and therefore the use to this virtual-shaft machine tool has brought many convenience.
Eight of feature of the present invention is: because the workbench of this virtual-shaft machine tool can adopt the workbench of traditional Digit Control Machine Tool, therefore the manufacturing of this virtual-shaft machine tool can realize by the transformation to traditional Digit Control Machine Tool, can reduce manufacturing cost, be convenient to rapid industrialization.
In sum, principal character of the present invention is embodied in: space parallel-connection structure, structural seismic, cutting are stablized, can be realized that high inclination-angle is processed, flexibility is good, simple in structure, easily manufactured, numerical control programming easy, can pass through eight aspects such as existing numerical control machine tool technique transformation realizations.
Brief Description Of Drawings is as follows:
Accompanying drawing 1 is the embodiment of the invention one a general structure schematic diagram.
Accompanying drawing 2 is the schematic diagram of space four-freedom parallel mechanism.
Accompanying drawing 3 is the embodiment of the invention two general structure schematic diagrames.
Accompanying drawing 4 is the embodiment of the invention three general structure schematic diagrames.
Accompanying drawing 5 is the outline drawing of middle leg of the present invention.
Accompanying drawing 6 is middle leg sectional structure schematic diagram.
Accompanying drawing 7 is that A-A in the accompanying drawing 5 is to the sectional structure schematic diagram.
Accompanying drawing 8 is the outline drawing of leg on every side of the present invention.
Accompanying drawing 9 be around leg sectional structure schematic diagram.
Accompanying drawing 10 is that A-A in the accompanying drawing 8 is to the sectional structure schematic diagram.
Below in conjunction with accompanying drawing, introduce 3 kinds of structure and operation principles of the present invention in detail based on the virtual-shaft machine tool embodiment of four-freedom parallel mechanism.
Embodiment one general structure as shown in Figure 1, present embodiment by fixed platform 25, the moving platform 10 of cutting tool is installed, leg 17 18, middle leg 13 14 constitute space closed linkage in parallel on every side.Fixed platform and linking by Hooke's hinge 19 between the leg on every side wherein, moving platform and linking by ball pivot 16 between the leg on every side.This Hooke's hinge is made up of orthogonal two revolute pairs of axis.The center rigidity of middle leg and fixed platform connects firmly, and the middle leg other end links by ball pivot 15 and moving platform.Around changing 3, during the stroke of leg, can realize any attitude of moving platform.Space closed linkage in parallel add the moving platform ball pivot triangular layout intrinsic stability, make this structure have favorable rigidity, seismic resistance and cutting stability.12 for being installed with guide rail on frame, 9 for the platform that can move along guide rail 12 of solid platform 25 phase configuration.
Two-way travel mechanism with X, Y direction locomotive function is made up of servomotor 22, ball-screw, ball nut, guide rail.Two-way travel mechanism is structurally separate with closed chain mechanism in parallel, and in reality processing, two-way travel mechanism carries out interlock control with closed chain mechanism in parallel.
The principle of the four-freedom space parallel mechanism that present embodiment adopted as shown in Figure 2.This parallel institution is made up of a fixed platform (A1, A2, A3) and a motion platform (B1, B2, B3).Moving platform and fixed platform link by 4 legs.Middle leg one end rigidity is fixed on fixed platform center A4, and the other end links by ball pivot B4 and moving platform.Link by ball pivot B1, B2, B3 between leg and the moving platform on every side, and link by Hooke's hinge A1, A2, A3 between the fixed platform.Article four, leg drives by moving sets, changes the stroke of leg on every side, can realize the attitude of moving platform; The stroke of leg in the middle of changing, the position that can realize moving platform along Z-direction.
Embodiment two general structures as shown in Figure 3, its general structure is roughly identical with embodiment one, its difference is, among the embodiment one around leg in embodiment two, replaced by connecting-rods with constant lengh 7.One end of connecting-rods with constant lengh 7 links by Hooke's hinge 6 and slide block 5, and slide block 5 is driven by the leading screw 2 that servomotor 1 drives.Servomotor 1 wherein, leading screw 2, slide block 5, retainer 4 and sliding bearing 3 building blocks.These parts and fixed platform form an angle (for example 45 °).
Embodiment three general structures as shown in Figure 4, its general structure is roughly identical with embodiment one, its difference is that the fixed platform 24 of space parallel mechanism is that rigidity connects firmly on the lathe frame, and drive lower edge X, the Y direction of the feed screw nut 23 that workbench can drive at servomotor 22 move.Structure among the embodiment two, three has brought many convenience for the manufacturing and the control of this virtual-shaft machine tool, helps practical engineering application.
The structure of middle leg is shown in Fig. 5-7.In Fig. 6, the 32nd, servomotor can rotate by the ball-screw 28 of drive installation on bearing 29 as requested, and servomotor 32 links to each other by shaft coupling 31 with ball-screw 28.Servomotor 32 is installed in the hollow garden post cylinder body 33.Ball nut 26 is installed together with linear guide 14, and linear guide 14 is installed in the post cylinder body of hollow garden with end cap 27.Linear guide 14 under guide groove constraint, moving linearly and can not do gyration vertically around axis.Therefore when servomotor drove ball screw 28 rotations, linear guide 14 was just made stretching motion vertically under the drive of ball nut 26.15 is ball pivot among Fig. 6, is used to connect moving platform.In the use, cylinder block 33 connects firmly together with the center rigidity of fixed platform.
The structure of leg is shown in Fig. 8-10 on every side, and its structure is identical substantially with the structure of middle leg, and difference is that an end of leg connects with moving platform by ball pivot 16 on every side, and the other end connects with fixed platform by Hooke's hinge 19.
Compared with the prior art the present invention has following relatively more outstanding advantageous effect:
The first, simple in structure, easy accessibility, volume are little, in light weight.
Second, moving platform links by leg around 3 ball pivots and 3, and the center of moving platform links by the middle leg that ball pivot and an end rigidity connect firmly at the fixed platform center, has formed space parallel connection closed linkage, this closed linkage has very high rigidity, thereby has guaranteed the machining accuracy of lathe effectively.Because cutting force is shared by 4 legs, make lathe that good seismic resistance and cutting stability be arranged simultaneously.
The 3rd, when middle leg length fixedly the time, article 3, the motion of the moving platform that the variation of leg stroke causes around is that the intrinsic kinetic characteristic of this parallel institution makes moving platform have good attitude angle fulfillment capability around the spheric motion of its astrosphere hinge, can realize high inclination-angle processing.
The 4th, because the position that the variation of the stroke of leg and middle leg on every side mainly realizes the attitude and the Z direction of cutter, and the position of X, Y direction is mainly realized by the two-way travel mechanism of X, Y direction, therefore the range of work of lathe is big, is specially adapted to the large-scale digital control processing that includes complex-curved class part.
The 5th, the prototype space parallel mechanism of virtual-shaft machine tool of the present invention is structurally simple than the prototype 6-SPS mechanism of at present popular virtual-shaft machine tool, position analysis, motion analysis are all easy than 6-SPS mechanism, brought many convenience therefore for the numerical control programming of lathe, further can develop CAD/CAM system, for the application of this virtual-shaft machine tool offers convenience towards this type of virtual-shaft machine tool.
Version of the present invention is not limited to the described form of the foregoing description.
Claims (7)
1, a kind of virtual-shaft machine tool based on space parallel mechanism, comprise fixed platform, the moving platform of cutting tool is installed, can be along X, two-way travel mechanism that the Y direction moves and installation are cut the workbench of workpiece, its feature is at what, link by 4 legs between fixed platform and the moving platform and form space closed linkage in parallel, article 4,1 leg in the leg is positioned at the centre position, around other 3 legs are positioned at, and become the setting of plane triangle layout, on every side between 3 legs and the fixed platform by a kind of the linking in Hooke's hinge and the ball pivot, with link to each other by ball pivot between the moving platform, one end and the fixed platform rigidity of middle 1 leg connect firmly, the other end links by ball pivot and moving platform, article 4, leg all contains the moving sets driving, said can be along X, the two-way travel mechanism that the Y direction moves is structurally separate with this closed linkage, carries out interlock control in control.
2, the virtual-shaft machine tool of narrating as claim 1, it is characterized in that two-way travel mechanism by servomotor, guide rail, ball-screw, ball nut etc. form can be along the mechanism that X, Y direction move.
3, as the said virtual-shaft machine tool of claim 1, it is characterized in that 3 legs are driven by a kind of moving sets in interior moving sets and the outer moving sets on every side, middle 1 leg is driven by interior moving sets.
4, the virtual-shaft machine tool of narrating as claim 1 is characterized in that the structure that said workbench can be designed to make workbench to move along X, Y direction.
5, the virtual-shaft machine tool of narrating as claim 1 is characterized in that, the center design of moving platform is useful on the cavity that main shaft driving device is installed.
6, the virtual-shaft machine tool of narrating as claim 1, the drive unit that it is characterized in that said 4 legs be the hydraulic jack drive unit with the drive unit that constitutes by servomotor and turn-screw nut in a kind of.
7, the virtual-shaft machine tool of narrating as claim 1 is characterized in that said 3 legs on every side can be designed to connecting-rods with constant lengh, and an end links by Hooke's hinge and slide block, and slide block is driven by the feed screw nut that servomotor drives.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00120604 CN1113727C (en) | 2000-12-19 | 2000-12-19 | Mixed connection based virtual axle machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00120604 CN1113727C (en) | 2000-12-19 | 2000-12-19 | Mixed connection based virtual axle machine tool |
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| Publication Number | Publication Date |
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| CN1358609A true CN1358609A (en) | 2002-07-17 |
| CN1113727C CN1113727C (en) | 2003-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 00120604 Expired - Fee Related CN1113727C (en) | 2000-12-19 | 2000-12-19 | Mixed connection based virtual axle machine tool |
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| CN (1) | CN1113727C (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100381248C (en) * | 2005-02-06 | 2008-04-16 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
| CN100387392C (en) * | 2002-11-13 | 2008-05-14 | 德克尔.马霍普夫龙滕有限责任公司 | Machine tool |
| CN102166751A (en) * | 2011-05-20 | 2011-08-31 | 汕头大学 | Branched chain-less and six-freedom degree parallel manipulator |
| CN102175388A (en) * | 2011-01-21 | 2011-09-07 | 中国科学院合肥物质科学研究院 | Three-dimensional calibration device for curve flexible touch sensor array |
| CN102962848A (en) * | 2012-11-14 | 2013-03-13 | 北京航空航天大学 | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot |
| CN103624774A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Six-degree-of-freedom series-parallel connection robot |
| CN103895009A (en) * | 2014-04-22 | 2014-07-02 | 四川大学 | Three-freedom-degree sphere-center adjustable spherical surface parallel mechanism |
| CN104344987A (en) * | 2014-10-16 | 2015-02-11 | 北京航空航天大学 | Pulling, bending and twisting material loading testing machine |
| CN104526684A (en) * | 2014-12-30 | 2015-04-22 | 天津大学 | High-rigidity hybrid robot capable of achieving gravity self balancing |
| CN105313106A (en) * | 2015-11-03 | 2016-02-10 | 浙江大学 | Fruit picking device based on non-uniform distribution parallel mechanism |
| CN108297074A (en) * | 2018-03-30 | 2018-07-20 | 福州大学 | Modularized bionic mechanical arm and its working method |
| CN109623573A (en) * | 2018-11-09 | 2019-04-16 | 江苏大学 | It is a kind of for processing the lathe of propeller |
| CN110170857A (en) * | 2019-06-05 | 2019-08-27 | 福建省汇隆数控科技有限公司 | It is a kind of it is round compile machining special machine axis turn unit |
-
2000
- 2000-12-19 CN CN 00120604 patent/CN1113727C/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100387392C (en) * | 2002-11-13 | 2008-05-14 | 德克尔.马霍普夫龙滕有限责任公司 | Machine tool |
| CN100381248C (en) * | 2005-02-06 | 2008-04-16 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
| CN102175388A (en) * | 2011-01-21 | 2011-09-07 | 中国科学院合肥物质科学研究院 | Three-dimensional calibration device for curve flexible touch sensor array |
| CN102175388B (en) * | 2011-01-21 | 2012-09-05 | 中国科学院合肥物质科学研究院 | Three-dimensional calibration device for curve flexible touch sensor array |
| CN102166751A (en) * | 2011-05-20 | 2011-08-31 | 汕头大学 | Branched chain-less and six-freedom degree parallel manipulator |
| CN102962848A (en) * | 2012-11-14 | 2013-03-13 | 北京航空航天大学 | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot |
| CN103624774A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Six-degree-of-freedom series-parallel connection robot |
| CN103895009A (en) * | 2014-04-22 | 2014-07-02 | 四川大学 | Three-freedom-degree sphere-center adjustable spherical surface parallel mechanism |
| CN104344987A (en) * | 2014-10-16 | 2015-02-11 | 北京航空航天大学 | Pulling, bending and twisting material loading testing machine |
| CN104344987B (en) * | 2014-10-16 | 2017-02-08 | 北京航空航天大学 | Pulling, bending and twisting material loading testing machine |
| CN104526684A (en) * | 2014-12-30 | 2015-04-22 | 天津大学 | High-rigidity hybrid robot capable of achieving gravity self balancing |
| CN104526684B (en) * | 2014-12-30 | 2016-09-28 | 天津大学 | A kind of high rigidity series-parallel robot realizing gravity self-balancing |
| CN105313106A (en) * | 2015-11-03 | 2016-02-10 | 浙江大学 | Fruit picking device based on non-uniform distribution parallel mechanism |
| CN105313106B (en) * | 2015-11-03 | 2017-03-29 | 浙江大学 | Fruit picker based on non-uniform parallel institution |
| CN108297074A (en) * | 2018-03-30 | 2018-07-20 | 福州大学 | Modularized bionic mechanical arm and its working method |
| CN109623573A (en) * | 2018-11-09 | 2019-04-16 | 江苏大学 | It is a kind of for processing the lathe of propeller |
| CN110170857A (en) * | 2019-06-05 | 2019-08-27 | 福建省汇隆数控科技有限公司 | It is a kind of it is round compile machining special machine axis turn unit |
| CN110170857B (en) * | 2019-06-05 | 2021-03-26 | 福建省汇隆数控科技有限公司 | Shaft rotating unit of special machine for processing circular knitting machine |
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| CN1113727C (en) | 2003-07-09 |
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