CN1555963A - Double gantry horizontal series parallel schematic milling composite digital controlled machine tool - Google Patents
Double gantry horizontal series parallel schematic milling composite digital controlled machine tool Download PDFInfo
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- CN1555963A CN1555963A CNA200310122267XA CN200310122267A CN1555963A CN 1555963 A CN1555963 A CN 1555963A CN A200310122267X A CNA200310122267X A CN A200310122267XA CN 200310122267 A CN200310122267 A CN 200310122267A CN 1555963 A CN1555963 A CN 1555963A
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Abstract
A dual-gantry combined horizontal numerally controlled machine-tool able to perform turning, milling, drilling, reaming, boring, etc is composed of two mainshafts for turning and milling, two tool carriages for turning and milling, small and big gantries, main body, saddle, two longitudinal slide plates and tailstock. Its advantages are high machining precision, and high rigidity.
Description
Technical field
The present invention relates to a kind of numerical control cutting machining tool, particularly a kind of series connection and the two two gantry horizontal parallel-series principle turnning and milling combined numerically controlled machine of usefulness also in parallel.
Background technology
Traditional lathe is the principle of connecting fully, and its advantage is that working space is big, the machine tool motion algorithm is simple; Shortcoming is that the kinematic error of each adds up, and a little less than the cantilever design rigidity, moving-mass is big, and speed can not be too high.The U.S. has at first released six complete principle of parallel lathes in recent years, claims virtual-shaft machine tool or six sufficient parallel machines again, and its advantage is that the movement parts quality is little, speed is fast, the specific stiffness height, and kinematic error does not add up, precision height, shortcoming are that working space is little, the motion algorithm complexity.The complete parallel machine that present various countries are developed is except that fast this advantage of the speed that realized, its rigidity, precision also are far from reaching due in theory so high level, and its principle of parallel Digit Control Machine Tool mostly is boring and milling class lathe greatly, all released some six boring and milling Digit Control Machine Tools in parallel as the U.S., Russia, China etc., but the lathe of principle of parallel is less.Germany has released a kind of three principle of parallel vertical numerical controlled lathes, the turning main tapping is contained on the moving platform of parallel institution, and workpiece is installed on the front-end of spindle scroll chuck, and moving platform moves along three change in coordinate axis direction, knife rest is motionless, so can only be used for mini disk class part processing.
Because the principle of connecting fully the and fully pluses and minuses of the Digit Control Machine Tool of principle of parallel are on the contrary, therefore will connect, to combine the parallel-series principle lathe that has the two advantage concurrently with principle of parallel be the novel numerical control lathe that has very much value; Using a German Z3 patent is exactly by three and shaft coupling and two parallel-series principle boring and milling Digit Control Machine Tools that series shaft is formed by five horizontal digital-control lathes of U.S. exploitation.
Summary of the invention
The two gantry horizontal parallel-series principle turnning and milling combined numerically controlled machine that the purpose of this invention is to provide a kind of series connection and the two and usefulness in parallel promptly a kind ofly carries out that horizontal turning is processed and stood, the parallel-series principle turnning and milling combined numerically controlled machine of horizontal boring-mill work.The present invention has two main tappings, two knife rests and two portal frames; One is the turning main tapping of this lathe in two main tappings, and one is the milling spindle head; One is turning head in two knife rests, and one is milling slide; Milling slide adopts three principle of parallel, and all the other are the series connection principle.The characteristics of this lathe are: the range of work is wide, can carry out the turnning and milling processing of turning processing, Milling Process, the processing of brill expansion hinge, boring processing and new principle; Can carry out a class, dish class, dihedral and box-shaped class part processing, reduce operation position error is installed, especially help guaranteeing the morpheme machining accuracy; The application of parallel-connection structure has improved process velocity, helps realizing the high-speed cutting processing of turnning and milling principle, complete machine closed loop version rigidity height.
The present invention is by the following technical solutions: the present invention mainly includes turning main tapping, lathe bed, saddle, turning head, cross slide, tailstock and tool magazine, wherein the turning main tapping is installed on the lathe bed, saddle is connected by its guideway with lathe bed, and vertically move along its guide rail, turning head is connected with guideway with saddle by its cross slide, and laterally mobile along its guide rail, tailstock is connected with guideway with lathe bed and can vertically moves along its guide rail; The characteristics of this Digit Control Machine Tool also are to be provided with the milling spindle head, the milling slide of principle of parallel, small arc shaped frame, big portal frame; Wherein: the milling spindle head is installed on the milling slide, and milling slide is connected with guideway with the small arc shaped frame by its cross slide, and laterally moves along its guide rail; The small arc shaped frame is installed on the saddle, is connected with the guide rail on big portal frame both sides by the longitudinal slide that is installed in its both sides, top, and vertically moves along lathe bed; Big portal frame vertically is installed in the both sides of lathe bed.
Milling slide of the present invention is by tool holder casing, servomotor, and ball screw assembly,, rolling guide-rail pairs, small slide plate, revolute pair, connecting-rods with constant lengh, spherical pair and moving platform are formed; Servomotor and ball screw assembly, are installed on the tool holder casing, small slide plate is connected with tool holder casing by rolling guide-rail pairs, can move along rolling guide-rail pairs, connecting-rods with constant lengh is connected with small slide plate by revolute pair, can rotate relative to small slide plate, moving platform is connected with connecting-rods with constant lengh by spherical pair, can rotate relative to connecting-rods with constant lengh; The motion of moving platform drives small slide plate by the servomotor of each branch by ball screw assembly, and moves to drive connecting-rods with constant lengh along rolling guide-rail pairs and rotate around revolute pair, drive the moving platform motion by the spherical pair that is connected on the connecting-rods with constant lengh, moving platform in the position in space by the associated movement decision of three branches; The main shaft of turning main tapping is an axis servomotor, can adopt AC servo machinery driving, also can adopt turning main shaft and spindle motor AC servo electricity main axle structure together; The milling spindle head can adopt AC servo electricity main shaft, also can adopt frequency conversion electricity main shaft; Milling slide and small arc shaped frame, saddle and main tapping combination can realize six-axis linkage control, six-axis linkage control is meant three branch drives axle Y of milling slide, A, C2, milling slide is by the horizontal mobile X2 of its cross slide on the small arc shaped frame, and saddle is along the C s function control that vertically moves Z and turning main tapping of lathe bed.
This lathe can configuration standard the console mode tool magazine, also tool magazine can be configured on the big portal frame.
The present invention is owing to adopted the parallel-series principle of parallel connection and serial connection and usefulness, merged the advantage of the two preferably, its outstanding feature is realized the horizontal turning of series connection and also usefulness in parallel and milling compound, and the two portal frames that adopted make whole lathe form the closed loop version with high rigidity.
Description of drawings
Fig. 1 is front view of the present invention and coordinate;
Fig. 2 is a vertical view of the present invention;
Fig. 3 is a side view of the present invention;
Fig. 4 is milling slide parallel principle figure of the present invention and coordinate;
Fig. 5 is the structure chart and the coordinate of milling slide of the present invention.
The specific embodiment
The present invention will be described in more detail below in conjunction with accompanying drawing:
With reference to the front view of Fig. 1 and the vertical view of Fig. 2, the turning main tapping 1 of combined numerically controlled machine is installed on the lathe bed 2; Saddle 3 is connected by guideway with lathe bed 2 and can vertically moves along lathe bed 2; Turning head 4 is installed on its cross slide 5; Cross slide 5 is connected by guideway with saddle 3 and can laterally moves along saddle 3; Tailstock 6 is connected by guideway with lathe bed 2 and can vertically moves along lathe bed; Milling spindle head 7 is installed on the milling slide 8, and milling slide 8 is installed on its cross slide 9; Cross slide 9 is connected with small arc shaped frame 10 by guideway and can laterally moves along small arc shaped frame 10; Small arc shaped frame 10 is installed on the saddle 3, and is connected with the guide rail on big both sides, portal frame 12 top by the longitudinal slide 11 that is installed in its both sides, top, and small arc shaped frame 10 vertically moves along lathe bed 2 with saddle; Big portal frame 12 vertically is installed in the both sides of lathe bed 2.
With reference to the structure chart of the milling slide of the side view of Fig. 3 and Fig. 5, this lathe has disposed the console mode tool magazine of standard, also tool magazine can be configured on the big portal frame.Milling slide (8) is by tool holder casing (8-1), servomotor (8-2), and ball screw assembly, (8-3), rolling guide-rail pairs (8-4), small slide plate (8-5), revolute pair (8-6), connecting-rods with constant lengh (8-7), spherical pair (8-8) and moving platform (8-9) are formed; Servomotor (8-2) and ball screw assembly, (8-3) are installed on the tool holder casing (8-1), and small slide plate (8-5) is connected with tool holder casing (8-1) by rolling guide-rail pairs (8-4), can move along rolling guide-rail pairs (8-4); Connecting-rods with constant lengh (8-7) is connected with small slide plate (8-5) by revolute pair (8-6), can rotate relative to small slide plate; Moving platform (8-9) is connected with connecting-rods with constant lengh (8-7) by spherical pair (8-8), can rotate relative to connecting-rods with constant lengh; The moving platform 8-9 that milling spindle head 7 is installed in milling slide 8 upward and by moving platform 8-9 drives its for vertical movement or rotation, and the tool holder casing 8-1 of milling slide 8 is installed on its cross slide 9; Big portal frame 12 vertically is installed in the both sides of lathe bed 2, in order to support the rigidity that small arc shaped frame 10 vertically moves and increases lathe bed 2 along lathe bed 2.
Among the parallel principle figure of Fig. 4, parallel institution has three branches, and each branch is by moving sets P, and revolute pair R and spherical pair S form, and abbreviate the 3-PRS parallel machine as.This parallel institution can realize that a Y is to moving and two rotations (A, C2) motion.As: three branch drives axle Y of milling slide 8, A, C2, milling slide 8 are by the horizontal mobile X2 of its cross slide (9) on small arc shaped frame 10, and saddle 3 is along the C s function control that vertically moves Z and main tapping 1 of lathe bed 2.When three driven by servomotor, moving platform 8-9 can realize that one is moved and two rotations.
Digit Control Machine Tool of the present invention has seven axis servomotors, and turning main tapping 1 is an axis servomotor, is main motion, is again the C axle; Turning head 4 can be realized X, two axis servomotor motions of Z; Milling slide can be realized X, Y, A, C
2, five axis servomotors of Z motions (wherein Z axle and turning are shared).Therefore turning processing can realize X, Z, C three-shaft linkage; Milling can realize X
2, Y, Z, A, C, C
2Six-axis linkage.The motor of milling spindle head 7 can be servo electric main shaft, also available frequency conversion electricity main shaft.
Embodiment 1
The motor of turning main tapping 1 is an AC servo master motor, has the C s function, and main tapping (7) adopts frequency conversion electricity main shaft, and knife rest 4 is the rotary type tower turning head, and the parallel institution of milling slide 8 is a 3-PRS mechanism, and each feeding motor all adopts servomotor.This lathe can be realized six-axis linkage at most.Big portal frame 12 is installed on the lathe bed 2, and small arc shaped 10 is installed on the saddle 3, vertically moves with saddle 3, and is connected with big portal frame 12 usefulness guideways, makes whole lathe form closed loop structure, rigidity height.Disposed the console mode tool magazine of standard in the side of lathe.
Milling spindle head 7 adopts servo electric main shaft as different from Example 1, it has been increased have special slot machining functions, as the skewed slot of different azimuth.
Claims (8)
1, a kind of pair of gantry horizontal parallel-series principle turnning and milling combined numerically controlled machine, comprise turning main tapping (1), lathe bed (2), saddle (3), turning head (4), cross slide (5), tailstock (6) and tool magazine (13), wherein turning main tapping (1) is installed on the lathe bed (2), saddle (3) is connected by its guideway with lathe bed (2), and vertically moves along its guide rail, and turning head (4) is connected with guideway with saddle (3) by its cross slide (5), and laterally mobile along its guide rail, tailstock (6) is connected with guideway with lathe bed (2) and can vertically moves along its guide rail; It is characterized in that: this Digit Control Machine Tool also is provided with milling spindle head (7), the milling slide of principle of parallel (8), small arc shaped frame (10), big portal frame (12); Wherein: milling spindle head (7) is installed on the milling slide (8), milling slide (8) is connected with guideway with small arc shaped frame (10) by its cross slide (9), and it is laterally mobile along its guide rail, small arc shaped frame (10) is installed on the saddle (3), be connected with the guide rail on big portal frame (12) both sides by the longitudinal slide (11) that is installed in its both sides, top, and vertically move along lathe bed (2); Big portal frame (12) vertically is installed in the both sides of lathe bed (2).
2, according to claim 1 pair of gantry horizontal series-parallel connection turnning and milling combined numerically controlled machine, it is characterized in that milling slide (8) is by tool holder casing (8-1), servomotor (8-2), ball screw assembly, (8-3), rolling guide-rail pairs (8-4), small slide plate (8-5), revolute pair (8-6), connecting-rods with constant lengh (8-7), spherical pair (8-8) and moving platform (8-9) are formed; Servomotor (8-2) and ball screw assembly, (8-3) are installed on the tool holder casing (8-1), and small slide plate (8-5) is connected with tool holder casing (8-1) by rolling guide-rail pairs (8-4), can move along rolling guide-rail pairs (8-4); Connecting-rods with constant lengh (8-7) is connected with small slide plate (8-5) by revolute pair (8-6), can rotate relative to small slide plate; Moving platform (8-9) is connected with connecting-rods with constant lengh (8-7) by spherical pair (8-8), can rotate relative to connecting-rods with constant lengh.
3, according to claim 1 pair of gantry horizontal series-parallel connection turnning and milling combined numerically controlled machine, the motion that it is characterized in that the moving platform (8-9) of milling slide (8) is to be realized by three branch's associated movements, promptly driving small slide plate (8-5) by the servomotor of each branch by ball screw assembly, (8-3) respectively moves to drive connecting-rods with constant lengh (8-7) along rolling guide-rail pairs (8-4) and rotates around revolute pair (8-6), drive moving platform (8-9) motion by the spherical pair (8-8) that is connected on the connecting-rods with constant lengh (8-7), moving platform (8-9) in the position in space by the associated movement decision of three branches, when three driven by servomotor, moving platform (8-9) can realize that Y is to two rotating functions mobile and A and C2.
4, according to claim 1 pair of gantry horizontal series-parallel connection turnning and milling combined numerically controlled machine, the main shaft that it is characterized in that turning main tapping (1) is an axis servomotor, can adopt AC servo machinery driving, also can adopt turning main shaft and spindle motor AC servo electricity main axle structure together.
5, according to claim 1 and 2 pair of gantry horizontal series-parallel connection turnning and milling combined numerically controlled machine is characterized in that milling spindle head (7) can adopt AC servo electricity main shaft, also can adopt frequency conversion electricity main shaft.
6, according to claim 1 and 2 pair of gantry horizontal series-parallel connection turnning and milling combined numerically controlled machine is characterized in that milling slide (8) and small arc shaped frame (10), saddle (3) and main tapping (1) combination can realize six-axis linkage control.
7, according to claim 6 pair of gantry horizontal series-parallel connection turnning and milling combined numerically controlled machine, it is characterized in that described six-axis linkage control is meant three branch drives axle Y of milling slide (8), A, C2, milling slide (8) is by the horizontal mobile X2 of its cross slide (9) on small arc shaped frame (10), and saddle (3) is along the C s function control that vertically moves Z and main tapping (1) of lathe bed (2).
8, according to claim 1 pair of gantry horizontal series-parallel connection turnning and milling combined numerically controlled machine is characterized in that the console mode tool magazine that this lathe can configuration standard, also tool magazine can be configured on the big portal frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200310122267XA CN1328006C (en) | 2003-12-31 | 2003-12-31 | Double gantry horizontal series parallel schematic milling composite digital controlled machine tool |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200310122267XA CN1328006C (en) | 2003-12-31 | 2003-12-31 | Double gantry horizontal series parallel schematic milling composite digital controlled machine tool |
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| Publication Number | Publication Date |
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| CN1555963A true CN1555963A (en) | 2004-12-22 |
| CN1328006C CN1328006C (en) | 2007-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB200310122267XA Expired - Fee Related CN1328006C (en) | 2003-12-31 | 2003-12-31 | Double gantry horizontal series parallel schematic milling composite digital controlled machine tool |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100450706C (en) * | 2006-12-05 | 2009-01-14 | 天津重型装备工程研究有限公司 | Turning and milling machine for machining civil nuclear power container |
| CN101852671A (en) * | 2010-06-25 | 2010-10-06 | 西安理工大学 | Numerically controlled lathe automatic shift analog loading device and static rigidity distribution detecting method |
| CN101913083A (en) * | 2010-08-17 | 2010-12-15 | 北方设计院 | Machine tool for machining explosive hazardous articles |
| CN102059351A (en) * | 2010-11-29 | 2011-05-18 | 青岛泰威机床有限公司 | Large numerical control machine tool with quenching speed-regulating self-centering linkage function |
| CN102528525A (en) * | 2012-02-16 | 2012-07-04 | 汕头大学 | Elevated gantry-type series-parallel configuration machine tool with six degrees of freedom |
| CN103862317A (en) * | 2012-12-07 | 2014-06-18 | Emag控股有限公司 | Machining apparatus |
| CN104827351A (en) * | 2015-01-16 | 2015-08-12 | 南京建克机械有限公司 | Six-axis Swiss-type turning-milling machine tool formed by matching positive-axis mechanism with third axis group mechanism |
| CN105478870A (en) * | 2015-12-29 | 2016-04-13 | 深圳市钜匠科技有限公司 | Novel high-speed machining central machine |
| CN106271891A (en) * | 2016-09-29 | 2017-01-04 | 台州市路桥景耀数控机床厂 | A kind of double spindle vertical machining center |
| CN107838908A (en) * | 2017-11-09 | 2018-03-27 | 中国地质大学（武汉） | A kind of six degree of freedom complex surface machining robot |
| CN115179047A (en) * | 2022-09-03 | 2022-10-14 | 北京信息科技大学 | Turning and milling combined machining center with hybrid structure |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10045176B4 (en) * | 2000-09-13 | 2004-03-18 | Deckel Maho Pfronten Gmbh | machine tool |
| DE10141865B4 (en) * | 2001-08-27 | 2006-02-02 | Deckel Maho Pfronten Gmbh | Program-controlled universal milling and drilling machine |
| TW521677U (en) * | 2001-10-18 | 2003-02-21 | Ind Tech Res Inst | Gantry type hybrid parallel linkage 5-axis machine tool |
| US6557235B1 (en) * | 2002-03-06 | 2003-05-06 | The Regents Of The University Of Michigan | Bi-axial coplanar apparatus |
| DE10213755A1 (en) * | 2002-03-26 | 2003-10-23 | Emag Maschfab Gmbh | Processing machine for multi-axis movement of a tool or workpiece |
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2003
- 2003-12-31 CN CNB200310122267XA patent/CN1328006C/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100450706C (en) * | 2006-12-05 | 2009-01-14 | 天津重型装备工程研究有限公司 | Turning and milling machine for machining civil nuclear power container |
| CN101852671A (en) * | 2010-06-25 | 2010-10-06 | 西安理工大学 | Numerically controlled lathe automatic shift analog loading device and static rigidity distribution detecting method |
| CN101852671B (en) * | 2010-06-25 | 2012-02-08 | 西安理工大学 | Numerically controlled lathe automatic shift analog loading device and static rigidity distribution detecting method |
| CN101913083A (en) * | 2010-08-17 | 2010-12-15 | 北方设计院 | Machine tool for machining explosive hazardous articles |
| CN102059351A (en) * | 2010-11-29 | 2011-05-18 | 青岛泰威机床有限公司 | Large numerical control machine tool with quenching speed-regulating self-centering linkage function |
| CN102528525A (en) * | 2012-02-16 | 2012-07-04 | 汕头大学 | Elevated gantry-type series-parallel configuration machine tool with six degrees of freedom |
| CN103862317A (en) * | 2012-12-07 | 2014-06-18 | Emag控股有限公司 | Machining apparatus |
| CN103862317B (en) * | 2012-12-07 | 2018-06-15 | Emag 控股有限公司 | Lathe |
| CN104827351A (en) * | 2015-01-16 | 2015-08-12 | 南京建克机械有限公司 | Six-axis Swiss-type turning-milling machine tool formed by matching positive-axis mechanism with third axis group mechanism |
| CN105478870A (en) * | 2015-12-29 | 2016-04-13 | 深圳市钜匠科技有限公司 | Novel high-speed machining central machine |
| CN105478870B (en) * | 2015-12-29 | 2017-08-25 | 深圳市钜匠科技有限公司 | A kind of novel high speed processing center machine |
| CN106271891A (en) * | 2016-09-29 | 2017-01-04 | 台州市路桥景耀数控机床厂 | A kind of double spindle vertical machining center |
| CN107838908A (en) * | 2017-11-09 | 2018-03-27 | 中国地质大学（武汉） | A kind of six degree of freedom complex surface machining robot |
| CN115179047A (en) * | 2022-09-03 | 2022-10-14 | 北京信息科技大学 | Turning and milling combined machining center with hybrid structure |
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| CN1328006C (en) | 2007-07-25 |
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