CN1546270A - A parallel mechanism in laser processing process - Google Patents
A parallel mechanism in laser processing process Download PDFInfo
- Publication number
- CN1546270A CN1546270A CNA2003101115254A CN200310111525A CN1546270A CN 1546270 A CN1546270 A CN 1546270A CN A2003101115254 A CNA2003101115254 A CN A2003101115254A CN 200310111525 A CN200310111525 A CN 200310111525A CN 1546270 A CN1546270 A CN 1546270A
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- CN
- China
- Prior art keywords
- stewart platform
- guide rail
- optical head
- laser
- laser optical
- Prior art date
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Links
- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000003287 optical effect Effects 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 239000002245 particle Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
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- Laser Beam Processing (AREA)
Abstract
The invention is a kind of parallel mechanism for a kind of laser processing technology, which can realize the adjustment of relative posture and position of laser head and piece, realizes the laser accurate process. The mechanism is mainly made up of a guiding track and an inverted Stewart platform, the fixing bracket of the Stewart platform is fixed on the guiding track, the laser head is fixed in the centre of the Stewart platform bracket with head supporting pole; under control of the control system, the guiding tract slides itself, thus drives the whole Stewart platform to move in a big range, at the same time, the Stewart platform moving barrel move in a small range in order to adjust the position and posture of laser head, realizes three-dimension accurate process.
Description
Affiliated technical field
The present invention relates to the parallel institution in a kind of laser processing technology, be mainly used in the laser processing procedure locus and attitude and regulate, realize that laser three-D accurately processes laser optical head.
Background technology
At present, in laser processing procedure, in order to reach higher processing precision, it is that laser processing technology is necessary that the spatial pose of laser optical head is regulated, it is just more important particularly to be for the surface that the workpiece to be machined of space curved surface carries out three-dimensional finishing, the technology that has now generally all is to take governor motions such as cantilevered or planer-type to regulate the spatial pose of laser optical head, and prior art exists following some shortcomings: 1, can't realize complete three-dimensional accurately processing; 2, labour intensity is big in the process; 3, mechanism's volume is big, and makes the range limited system of processing space.
Summary of the invention
In order to overcome the deficiencies in the prior art part, the invention provides the parallel institution in a kind of laser processing technology, this serial mechanism not only can accurately be regulated the pose of laser optical head in the space significantly automatically, realize the accurate processing of Laser Processing, and control technology is quite ripe, simple in structure.
The technical solution adopted for the present invention to solve the technical problems is: in emulation mechanism, widespread use 6-6 type Stewart platform be the enforcement basis of the technical program, in fact the Stewart platform is exactly a kind of 6DOF space parallel moving mechanism, by 6 pressurized struts two 6 limit shape stands is tied with ball pivot or Hooke's hinge on the structure, and lower stage is fixed, the upper stage activity, can know that by Stewart platform principle each particle of upper stage all has 6 degree of freedom (x, y, z, ω
x, ω
y, ω
z), ω wherein
x, ω
y, ω
zBe respectively the velocity of rotation of the relative X of this particle, Y and Z axle, that is to say that the spatiality of arbitrary particle on the upper stage all depends on this 6 degree of freedom (x, y, z, ω
x, ω
y, ω
z), the Stewart platform can make upper stage arrive arbitrary position, space by control system, and just in time to control laser optical head required for us for this advantage, so the Stewart platform is carried out some distortion afterwards as technical solution of the present invention; At first, because the spatial movement scope of Stewart platform is limited by the tube length of pressurized strut, institute is so that be installed in fixed rack on the guide rail after the handstand of Stewart platform, guide rail can slide, fixed rack also can slide along guide rail simultaneously, driving the Stewart platform and integrally slides, thereby realize that the Stewart platform and integrally is in spatial movement in a big way, secondly, laser optical head is installed in the Moving jack horse center by bare headed support bar, flexible or rotation by pressurized strut drives the Moving jack horse motion, thereby realize that position and the attitude of laser optical head among a small circle changes, at last, needs and mechanism simple factor according to processing in particular cases can be reduced to 3 symmetrical pressurized struts with 6 pressurized struts of symmetry, constitute a triangle with the pin joint of Moving jack horse, this form is actually a kind of special circumstances of 6-6 type Stewart platform, remembers that it is a 3-3 type Stewart platform, and its control system principle there is not change; If set up the stiff end of coordinate system at guide rail, by Stewart platform mechanism principle, spatial kinetics principle and space geometry relation, can solve the locus coordinate of central point on arbitrary moment laser optical head and the Moving jack horse, the spatial attitude of bare headed support bar has also just been determined; Therefore, solve the geometric locus and the bare headed support bar spatial attitude matrix of the motion of laser optical head needs according to the space curved surface of workpiece to be machined, can be by the anti-gating matrix that solves of Stewart platform mechanism, computer control system is controlled the locus and the bare headed support bar spatial attitude of laser optical head in view of the above, and workpiece is implemented three-dimensional finishing.
The control system of entire mechanism comprises the control section of three parts: a, Stewart platform pressurized strut campaign; The control section that b, whole Stewart platform slide along guide rail; The control section that c, slide rail self slide; What both related to owing to the back is translation, the motion of Stewart platform pressurized strut equally is the motion of Stewart platform mechanism with respect to fixed rack, so the motion control of the latter two stack enters the Stewart platform control system and gets final product, the control technology of using is quite ripe at present.
The invention has the beneficial effects as follows, not only can accurately regulate the laser optical head spatial pose significantly, realize three-dimensional accurately processing, and control technology is quite ripe, simple in structure.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the first embodiment of the invention synoptic diagram.
Fig. 2 is the second embodiment of the invention synoptic diagram.
1. fixed racks among the figure, 2. slide rail, 3. pressurized strut, 4. Moving jack horse, 5. bare headed support bar, 6. mechanical optical fiber, 7. laser optical head.
Embodiment
In the embodiment shown in fig. 1, AB section guide rail (2) can slide along direction shown in the figure, fixed rack (1) is installed on the guide rail, can slide along guide rail as direction among the figure, be hinged with the pressurized strut (3) of six symmetries on the fixed rack, 6 hinges are decorateeed and are constituted hexagon abcdef, the other end of six pressurized struts (3) is hinged Moving jack horse (4) respectively, pin joint constitutes hexagon a ' b ' c ' d ' e ' f ', fixed rack (1), pressurized strut of six symmetries (3) and Moving jack horse (4) are formed the 6-6 type Stewart platform of a handstand together, this Stewart platform and integrally can slide arbitrarily along guide rail under the driving of control system, guide rail self also can slide simultaneously, bare headed support bar (5) is installed at center at hexagon Moving jack horse a ' b ' d ' e ' f ', the end of shaven head support bar (5) is installed laser optical head (7), mechanical optical fiber (6) passes bare headed support bar (5) laser beam is delivered to laser optical head (7), and whole parallel institution spatial relation is referring to space coordinates OXYZ.
In another embodiment shown in Figure 2, get embodiment ab=0 shown in Figure 1, cd=0, ef=0, six pressurized struts become three start cartridge form, and soon the 6-6 type Stewart platform of the handstand of adopting among first embodiment is deformed into the 3-3 type Stewart platform of handstand, is second embodiment of the invention, other forms of motion and type of attachment etc. are constant, and spatial relation is referring to space coordinates OXYZ.
The present invention can determine mechanism's proportional sizes according to concrete processing needs and technological requirement, adopts different control system to realize motion control.
Claims (6)
1, the parallel institution in a kind of laser processing technology, mainly form by a guide rail and a handstand Stewart platform, needs and mechanism simple factor according to processing, the Stewart platform can adopt the 3-3 type after 6-6 type or the process distortion, it is characterized in that: Stewart platform fixed rack is installed on the guide rail, and laser optical head is installed in the Moving jack horse center of Stewart platform with bare headed support bar; Under the control of control system, guide rail self slides, fixed rack slides along guide rail, thereby drive whole Stewart platform grand movement, laser optical head is being regulated in the pressurized strut campaign of Stewart platform simultaneously among a small circle locus and attitude, the locus and the attitude of the common result decision laser optical head of three's motion are implemented three-dimensional accurately processing to workpiece.
2, the parallel institution in a kind of laser processing technology according to claim 1, it is characterized in that: the Stewart platform of handstand is installed on the guide rail by fixed rack.
3, the parallel institution in a kind of laser processing technology according to claim 1, it is characterized in that: guide rail self slides, fixed rack slides along guide rail, thereby drive whole Stewart platform grand movement, laser optical head is being regulated in the pressurized strut campaign of Stewart platform simultaneously among a small circle locus and attitude, the locus and the attitude of the common result decision laser optical head of three's motion
4, the parallel institution in a kind of laser processing technology according to claim 1, it is characterized in that: the Stewart platform can adopt two kinds of forms: 6-6 type Stewart platform or 3-3 type Stewart platform, and as the mechanism that among a small circle, laser optical head locus and attitude is regulated.
5, the parallel institution in a kind of laser processing technology according to claim 1 is characterized in that: laser optical head is installed in the Moving jack horse center of Stewart platform with bare headed support bar.
6, the parallel institution in a kind of laser processing technology according to claim 1, it is characterized in that: the control system of entire mechanism comprises three parts: the control section of Stewart platform pressurized strut campaign, whole Stewart platform are along the control section of guide rail slip and the control section of slide rail self slip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310111525 CN1268468C (en) | 2003-12-05 | 2003-12-05 | A parallel mechanism in laser processing process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310111525 CN1268468C (en) | 2003-12-05 | 2003-12-05 | A parallel mechanism in laser processing process |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1546270A true CN1546270A (en) | 2004-11-17 |
| CN1268468C CN1268468C (en) | 2006-08-09 |
Family
ID=34336168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200310111525 Expired - Fee Related CN1268468C (en) | 2003-12-05 | 2003-12-05 | A parallel mechanism in laser processing process |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1268468C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008046184A1 (en) * | 2006-09-18 | 2008-04-24 | Spinduction Weld, Inc. | Apparatus for induction friction solid state welding |
| DE102011054109A1 (en) * | 2011-09-30 | 2013-04-04 | Hermann LeGuin | Method for welding workpiece, involves providing lens for changing the direction of the laser beam striking the workpiece, from the welding head |
| CN112672843A (en) * | 2018-09-28 | 2021-04-16 | 株式会社牧野铣床制作所 | Laser processing machine |
-
2003
- 2003-12-05 CN CN 200310111525 patent/CN1268468C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008046184A1 (en) * | 2006-09-18 | 2008-04-24 | Spinduction Weld, Inc. | Apparatus for induction friction solid state welding |
| US7931184B2 (en) | 2006-09-18 | 2011-04-26 | Spinduction Weld, Inc. | Apparatus for induction friction solid state welding |
| DE102011054109A1 (en) * | 2011-09-30 | 2013-04-04 | Hermann LeGuin | Method for welding workpiece, involves providing lens for changing the direction of the laser beam striking the workpiece, from the welding head |
| CN112672843A (en) * | 2018-09-28 | 2021-04-16 | 株式会社牧野铣床制作所 | Laser processing machine |
| EP3858534A4 (en) * | 2018-09-28 | 2022-05-04 | Makino Milling Machine Co., Ltd. | LASER PROCESSING DEVICE |
| CN112672843B (en) * | 2018-09-28 | 2023-02-17 | 株式会社牧野铣床制作所 | laser processing machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1268468C (en) | 2006-08-09 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Beworld Thermal Technology (Wuhan) Co., Ltd. Assignor: Zhang Xiangming|Yang Xia Contract fulfillment period: 2009.7.1 to 2015.6.30 contract change Contract record no.: 2009420010053 Denomination of invention: A parallel mechanism in laser processing process Granted publication date: 20060809 License type: Exclusive license Record date: 2009.9.16 |
|
| LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2009.7.1 TO 2015.6.30; CHANGE OF CONTRACT Name of requester: BEIWODE THERMAL TECHNOLOGY( WUHAN ) CO., LTD. Effective date: 20090916 |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20060809 Termination date: 20101205 |