CN1788899A - Five freedom degree numerically controlled fraise machine - Google Patents
Five freedom degree numerically controlled fraise machine Download PDFInfo
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- CN1788899A CN1788899A CN 200510127398 CN200510127398A CN1788899A CN 1788899 A CN1788899 A CN 1788899A CN 200510127398 CN200510127398 CN 200510127398 CN 200510127398 A CN200510127398 A CN 200510127398A CN 1788899 A CN1788899 A CN 1788899A
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Abstract
The five freedom numerically controlled milling machine is superior to available one, which has inconvenient manufacture and installation, complicated programming, and other demerits. The five freedom numerically controlled milling machine consists of a bed, a platform pedestal, a machining tool and a main electric shaft to control the machining tool, as well as a three freedom RPS mechanism. The three freedom RPS mechanism consists of a lower platform, a moving platform and telescopic rods comprising lead screw and nut mechanism, and each of the three telescopic rods has its ends hinged separately to the lower platform and the moving platform. The milling machine of the present invention has high rigidity, high precision, simple and symmetrical structure, low cost, simple manufacture and installation, high machine accuracy and convenient programming.
Description
Technical field
The present invention relates to a kind of CNC milling machine.
Background technology
In recent ten years, parallel machine is the hot subject that domestic and international Digit Control Machine Tool research field is paid special attention to.Parallel machine claims virtual-shaft machine tool again, is knowledge-intensive, intellect-intensive, technology-intensive electromechanical integration high-tech product, is the intersection of multidisciplinary application technologies such as parallel robot, numerical controlled machinery, computer control, accurate measurement, digital control processing.Scholar both domestic and external has dropped into number of research projects to it.
Overview from domestic and international parallel machine product and technical development concentrates in the research of six-degree-of-freedom parallel connection mechanism a few years ago mostly.In the last few years, the lower-mobility parallel institution has obtained people and has more and more paid attention to, but concentrate on mostly in the research of 3-freedom parallel mechanism, for four, the research of five-freedom parallel structure is then less, cause can be used as parallel machine four, the configuration of five-freedom parallel structure seldom.
In recent years, though the scholar who has provides the technical scheme of some five-freedom parallel structure milling machines, exist mostly when reality is used that rigidity is poor, precision is low, complex structure and the higher drawback of cost.Publication number is to have put down in writing a kind of " New-type mixed-coupled five-freedom virtual shaft machine tool " in the patent application document of CN1375379, it structurally comprise frame, fixed platform, installation cutting tool moving platform, can drive and be cut the two-way mobile workbench of workpiece, link by three legs between fixed platform and the moving platform.Wherein, one leg and fixed platform rigidity connect firmly, and link by Hooke's hinge with moving platform, link by Hooke's hinge between two other leg and the fixed platform, and link by ball pivot between the moving platform.The problem that the disclosure document exists, because two side chains are TPS structure (T Hooke strand-P moving sets-S typed ball bearing pair), another side chain one end is fixed, the other end is a ball pivot, this structure is a unsymmetric structure as can be seen, unsymmetric structure is in processing, all extremely inconvenient when manufacturing is still installed, and the unsymmetric structure lathe also exists the problem of machining accuracy difference; Simultaneously, owing to be Digit Control Machine Tool, the problem that we will consider is not a structure, also comprise the establishment of program, and the disclosure document is certainly existing the programming complicated problems owing to be unsymmetric structure, therefore, the disclosure document exists many inconvenience and difficult in actual use.
Summary of the invention
At existing parallel machine have that rigidity is poor, precision is low, complex structure and the higher drawback of cost, and the processing of existing five-freedom parallel machine tool, make, install all inconvenient, numerical control programming complicated problems, the invention provides that a kind of rigidity is strong, precision is high, simple in structure, with low cost and have symmetrical structure, make things convenient for the five freedom degree numerically controlled fraise machine of numerical control programming.Five freedom degree numerically controlled fraise machine, it comprises the electric main shaft of milling machine lathe bed, platform base, process tool and the motion of control process tool, it also comprises the Three Degree Of Freedom RPS mechanism that is connected with milling machine lathe bed or platform base, described Three Degree Of Freedom RPS mechanism forms by lower platform, motion platform with by the expansion link that screw-nut body is formed, described expansion link is three, and the two ends of every expansion link are all hinged with lower platform and motion platform respectively.Milling machine of the present invention utilizes 3-freedom parallel mechanism series connection two-freedom serial mechanism to form the five freedom degree numerically controlled fraise machine structure, it has realized the working ability of existing six-degree-of-freedom parallel bed, enriched the version of five-shaft numerical control milling machine, for the theoretical research of five degree of freedom and serial mechanism provides mechanism's prototype.The present invention has following advantage: 1, compare with the tandem gang tool of transmission, milling machine of the present invention has rigidity, precision and dynamic property preferably, and simple in structure, cost is low, easy manufacturing.2, compare with existing six-degree-of-freedom parallel bed, milling machine of the present invention mechanism is simple, easy to control, cost is low.3, compare with existing five-freedom parallel machine tool, milling machine of the present invention is a symmetrical structure, and it is all very convenient to process, make, install, and the machining accuracy height, and easy programming, easy to control.Move and the two dimension rotation relative to three-dimensional in the space that five-shaft numerical control milling machine of the present invention can be realized workpiece or cutter, finish the processing of workpiece, therefore should and the serial number controlled machine can substitute traditional tandem gang tool and six-degree-of-freedom parallel bed fully and realize being beneficial to processing to the spatial complex curved surface part and applying.
Description of drawings
Fig. 1 is the specific embodiment one and two a structural representation, and Fig. 2 is the structural representation of the specific embodiment three, and Fig. 3 is the structural representation of the specific embodiment four.
The specific embodiment
The specific embodiment one: the described five freedom degree numerically controlled fraise machine of present embodiment, it comprises the electric main shaft 9 of milling machine lathe bed 1, platform base, process tool 3 and 3 motions of control process tool, it also comprises the Three Degree Of Freedom RPS mechanism that is connected with milling machine lathe bed 1 or platform base, described Three Degree Of Freedom RPS mechanism forms by lower platform 4, motion platform 5 with by the expansion link 6 that screw-nut body is formed, described expansion link 6 is three, and the two ends of every expansion link 6 are all hinged with lower platform 4 and motion platform 5 respectively.Concrete articulated manner is, is connected by revolute pair 7 between expansion link 6 and the lower platform 4, twists by ball pivot 8 or Hooke between described expansion link 6 and the motion platform 5 to be connected.
The specific embodiment two: be that with the specific embodiment one difference present embodiment is described with regard to concrete milling machine lathe bed and platform base structure.With reference to Fig. 1, described milling machine lathe bed 1 is vertical lathe bed, and described process tool 3 and electric main shaft 9 all are installed on the described lathe bed; Described platform base is the two-freedom platform base, and it comprises base 2-2 and the mobile platform 2-1 that is arranged on the base 2-2, and the upper surface of described base 2-2 is provided with X to guide rail 2-3, and the upper surface of described mobile platform 2-1 is provided with Y to guide rail 2-4; Described Three Degree Of Freedom RPS mechanism is arranged on the mobile platform 2-1, and promptly the lower platform 4 in the Three Degree Of Freedom RPS mechanism is arranged on Y on guide rail 2-4; Series connection part comprises the lower platform 4 of mobile platform 2-1, base 2-2 and Three Degree Of Freedom RPS mechanism, can realize the lower platform 4 of RPS mechanism moving with respect to the XY both direction of pedestal under the driving of motor 2-5 by said structure.RPS motion of mechanism platform 5 links to each other with lower platform 4 by the expansion link of being made up of screw-nut body 6, and expansion link 6 upper ends are Three Degree Of Freedom ball pivot 8 or Hooke strand, and the lower end is a revolute pair 7.This structure can realize that motion platform 5 makes Z to the rotation of moving and do around motion platform 5 X-axis and Y-axis with respect to lower platform 4.In the time of work, workpiece to be processed is fixed on the Three Degree Of Freedom RPS motion of mechanism platform 5, described motion platform 5 is arranged on the below of process tool 3, motor-driven is separately all passed through in the motion of expansion link noted earlier, guide rail, process tool respectively, can realize the band attitude processing of workpiece according to described structure.
The specific embodiment three: be that with the specific embodiment two differences present embodiment is described the another kind of concrete milling machine lathe bed and the structure of platform base.With reference to Fig. 2, described milling machine lathe bed 1 is the planer-type lathe bed, X is installed to guide rail 2-6 on the crossbeam of described planer-type lathe bed; The reversal of the natural order of things of Three Degree Of Freedom RPS mechanism is on the crossbeam of planer-type lathe bed, concrete syndeton is: the bottom surface of the lower platform 4 of Three Degree Of Freedom RPS mechanism is provided with slide block, described slide block is installed in X in guide rail 2-6, can realize the motion in one dimension of RPS mechanism at directions X by motor 2-5; RPS motion of mechanism platform 5 links to each other with lower platform 4 by the expansion link of being made up of screw-nut body 6, the upper end of expansion link 6 is a revolute pair 7, the lower end is Three Degree Of Freedom ball pivot 8 or Hooke strand, described process tool 3 and electric main shaft 9 all are fixed on the motion platform 5, can realize process tool 3 with respect to the Z of lower platform 4 to moving and around the rotation of the X-axis and the Y-axis of motion platform 5; Described platform base is arranged on the below of Three Degree Of Freedom RPS mechanism, it is the single-degree-of-freedom platform base, it comprises base 2-2 and the mobile platform 2-1 that is arranged on the base 2-2, the upper surface of described base 2-2 is provided with Y to guide rail 2-4, can drive mobile platform 2-1 by motor 2-5 and do the motion of Y direction on guide rail 2-4; Workpiece to be processed is fixed on the mobile platform 2-1, can realizes the motion in one dimension of workpiece to be processed with respect to base 2-2.Described guide rail, expansion link, process tool all pass through motor-driven separately, can realize the processing of cutter to workpiece by said structure.
The specific embodiment four: present embodiment is the six degree of freedom CNC milling machine, it structurally is with the specific embodiment three differences, with reference to Fig. 3, be provided with numerical control rotating platform on mobile platform 2-1, described numerical control rotating platform is made up of the numerical control rotating shaft 10-1 that is separately positioned on mobile platform 2-1 two ends.Because this scheme has increased a turntable, institute thinks the six degree of freedom milling machine.The other parts of present embodiment and the specific embodiment three are identical.In the time of work, workpiece to be processed is fixed on the numerical control rotating shaft 10-1 by jig, opens the motor that control numerical control rotating shaft 10-1 rotates, numerical control rotating shaft 10-1 promptly can drive the workpiece to be processed rotation, can realize the revolution processing of strip workpiece like this, thereby improve working (machining) efficiency.
" RPS " in " Three Degree Of Freedom RPS mechanism " of the present invention is meant revolute pair-moving sets-typed ball bearing pair.
In addition; in the claim 3 of the present invention " upper surface of described base 2-2 is provided with X to guide rail 2-3; the upper surface of described mobile platform 2-1 is provided with Y to guide rail 2-4 "; because its purpose is to control the motion that Three Degree Of Freedom RPS mechanism can realize directions X and Y direction; so even the last setting of base 2-2 is that Y is provided with X to guide rail on guide rail and mobile platform 2-1; also can realize goal of the invention, so also should be within protection scope of the present invention.
Claims (5)
1. five freedom degree numerically controlled fraise machine, it comprises the electric main shaft (9) of milling machine lathe bed (1), platform base, process tool (3) and control process tool (3) motion, it is characterized in that it also comprises the Three Degree Of Freedom RPS mechanism that is connected with milling machine lathe bed (1) or platform base, described Three Degree Of Freedom RPS mechanism is made up of lower platform (4), motion platform (5) and the expansion link (6) be made up of screw-nut body, described expansion link (6) is three, and the two ends of every expansion link (6) are all hinged with lower platform (4) and motion platform (5) respectively.
2. five freedom degree numerically controlled fraise machine according to claim 1 is characterized in that being connected by revolute pair (7) between described expansion link (6) and the lower platform (4), is connected by ball pivot (8) or Hooke strand between described expansion link (6) and the motion platform (5).
3. five freedom degree numerically controlled fraise machine according to claim 1 and 2 is characterized in that described milling machine lathe bed (1) is vertical lathe bed, and described process tool (3) and electric main shaft (9) all are installed on the described lathe bed;
Described platform base is the two-freedom platform base, it comprises base (2-2) and is arranged on mobile platform (2-1) on the base (2-2), the upper surface of described base (2-2) is provided with X to guide rail (2-3), and the upper surface of described mobile platform (2-1) is provided with Y to guide rail (2-4);
Described Three Degree Of Freedom RPS mechanism is arranged on the mobile platform (2-1), and described lower platform (4) is arranged on Y on guide rail (2-4);
Described Three Degree Of Freedom RPS motion of mechanism platform (5) is arranged on the below of process tool (3).
4. five freedom degree numerically controlled fraise machine according to claim 1 and 2 is characterized in that described milling machine lathe bed (1) is the planer-type lathe bed, is equipped with X to guide rail (2-6) on the crossbeam of described planer-type lathe bed; The reversal of the natural order of things of Three Degree Of Freedom RPS mechanism is on the crossbeam of planer-type lathe bed, and concrete syndeton is: the bottom surface of the lower platform (4) of Three Degree Of Freedom RPS mechanism is provided with slide block, and described slide block is installed in X in guide rail (2-6); Described process tool (3) and electric main shaft (9) all are fixed on the motion platform (5);
Described platform base is the single-degree-of-freedom platform base, and it comprises base (2-2) and be arranged on mobile platform (2-1) on the base (2-2) that the upper surface of described base (2-2) is provided with Y to guide rail (2-4).
5. five freedom degree numerically controlled fraise machine according to claim 4 is characterized in that being provided with numerical control rotating platform on described mobile platform (2-1), and described numerical control rotating platform is made up of the numerical control rotating shaft (10-1) that is separately positioned on mobile platform (2-1) two ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101273986A CN100371113C (en) | 2005-12-28 | 2005-12-28 | Five freedom degree numerically controlled fraise machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101273986A CN100371113C (en) | 2005-12-28 | 2005-12-28 | Five freedom degree numerically controlled fraise machine |
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| Publication Number | Publication Date |
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| CN1788899A true CN1788899A (en) | 2006-06-21 |
| CN100371113C CN100371113C (en) | 2008-02-27 |
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| CNB2005101273986A Expired - Fee Related CN100371113C (en) | 2005-12-28 | 2005-12-28 | Five freedom degree numerically controlled fraise machine |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101633166A (en) * | 2009-07-13 | 2010-01-27 | 哈尔滨工业大学深圳研究生院 | Restructurable industrial robot |
| CN102211329A (en) * | 2011-06-02 | 2011-10-12 | 常州大学 | Five-degree-of-freedom spatial series-parallel operating platform |
| CN102343508A (en) * | 2011-10-26 | 2012-02-08 | 哈尔滨工程大学 | Head-oscillating type assembling robot |
| CN102350590A (en) * | 2011-09-26 | 2012-02-15 | 江苏大学 | Parallel-series six-freedom-degree operating platform for adjusting position of curved workpiece |
| CN102626872A (en) * | 2011-12-01 | 2012-08-08 | 兰州理工大学 | Two-degree of freedom rotary shaft parallel clamp |
| CN102642204A (en) * | 2012-03-27 | 2012-08-22 | 西安交通大学 | Alternating-current servo direct drive type series-parallel composite robot |
| CN103252673A (en) * | 2013-05-24 | 2013-08-21 | 哈尔滨工业大学（威海） | Horizontal type six-shaft parallel-serial computer numerical control milling machine |
| CN103624774A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Six-degree-of-freedom series-parallel connection robot |
| CN103639712A (en) * | 2013-11-25 | 2014-03-19 | 浙江理工大学 | Three-rotation-spherical-parallel-connection mechanism |
| CN107650281A (en) * | 2017-10-12 | 2018-02-02 | 烟台力凯智能科技有限公司 | A kind of multi-line cutting machine that can be achieved to wave cutting |
| CN107813362A (en) * | 2017-10-12 | 2018-03-20 | 烟台力凯智能科技有限公司 | A kind of multi-line cutting machine of achievable Compound Machining |
| CN108825941A (en) * | 2018-05-03 | 2018-11-16 | 长春工业大学 | A kind of Airborne Camera ground motion test device of multiaxis cooperative motion |
| CN109014466A (en) * | 2018-08-27 | 2018-12-18 | 齐鲁工业大学 | A kind of curve hole machined guiding device |
| WO2019072030A1 (en) * | 2017-10-12 | 2019-04-18 | 烟台力凯智能科技有限公司 | Multi-wire cutter |
| CN110732883A (en) * | 2018-07-18 | 2020-01-31 | 厦门万久科技股份有限公司 | Combined type parallel mechanism equipment |
| CN113319827A (en) * | 2021-07-07 | 2021-08-31 | 天津大学 | Five-degree-of-freedom complete parallel machining robot |
Family Cites Families (4)
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| DE69536045D1 (en) * | 1994-03-02 | 2010-04-01 | Renishaw Plc | Coordinate positioning machine |
| DE59603026D1 (en) * | 1995-12-20 | 1999-10-14 | Wiegand Alexander Konrad | DEVICE FOR THE SPACIOUS CONTROLLED MOVEMENT OF A BODY IN THREE TO SIX DEGREES OF FREEDOM |
| JP4120501B2 (en) * | 2003-07-08 | 2008-07-16 | 株式会社ジェイテクト | 4-DOF parallel robot and parallel link machine |
| CN2678808Y (en) * | 2003-12-31 | 2005-02-16 | 东莞市佑仲实业有限公司 | Digital controlled planar-type miller |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101633166A (en) * | 2009-07-13 | 2010-01-27 | 哈尔滨工业大学深圳研究生院 | Restructurable industrial robot |
| CN102211329A (en) * | 2011-06-02 | 2011-10-12 | 常州大学 | Five-degree-of-freedom spatial series-parallel operating platform |
| CN102350590A (en) * | 2011-09-26 | 2012-02-15 | 江苏大学 | Parallel-series six-freedom-degree operating platform for adjusting position of curved workpiece |
| CN102343508A (en) * | 2011-10-26 | 2012-02-08 | 哈尔滨工程大学 | Head-oscillating type assembling robot |
| CN102626872A (en) * | 2011-12-01 | 2012-08-08 | 兰州理工大学 | Two-degree of freedom rotary shaft parallel clamp |
| CN102642204A (en) * | 2012-03-27 | 2012-08-22 | 西安交通大学 | Alternating-current servo direct drive type series-parallel composite robot |
| CN103252673A (en) * | 2013-05-24 | 2013-08-21 | 哈尔滨工业大学（威海） | Horizontal type six-shaft parallel-serial computer numerical control milling machine |
| CN103639712A (en) * | 2013-11-25 | 2014-03-19 | 浙江理工大学 | Three-rotation-spherical-parallel-connection mechanism |
| CN103639712B (en) * | 2013-11-25 | 2016-04-27 | 浙江理工大学 | A kind of three rotation spherical parallel institutions |
| CN103624774A (en) * | 2013-12-17 | 2014-03-12 | 哈尔滨工程大学 | Six-degree-of-freedom series-parallel connection robot |
| CN107650281A (en) * | 2017-10-12 | 2018-02-02 | 烟台力凯智能科技有限公司 | A kind of multi-line cutting machine that can be achieved to wave cutting |
| CN107813362A (en) * | 2017-10-12 | 2018-03-20 | 烟台力凯智能科技有限公司 | A kind of multi-line cutting machine of achievable Compound Machining |
| WO2019072030A1 (en) * | 2017-10-12 | 2019-04-18 | 烟台力凯智能科技有限公司 | Multi-wire cutter |
| CN107813362B (en) * | 2017-10-12 | 2019-07-02 | 烟台力凯智能科技有限公司 | A kind of multi-line cutting machine of achievable Compound Machining |
| CN107650281B (en) * | 2017-10-12 | 2019-07-19 | 烟台力凯智能科技有限公司 | A kind of multi-line cutting machine that can be achieved to wave cutting |
| CN108825941A (en) * | 2018-05-03 | 2018-11-16 | 长春工业大学 | A kind of Airborne Camera ground motion test device of multiaxis cooperative motion |
| CN110732883A (en) * | 2018-07-18 | 2020-01-31 | 厦门万久科技股份有限公司 | Combined type parallel mechanism equipment |
| CN109014466A (en) * | 2018-08-27 | 2018-12-18 | 齐鲁工业大学 | A kind of curve hole machined guiding device |
| CN113319827A (en) * | 2021-07-07 | 2021-08-31 | 天津大学 | Five-degree-of-freedom complete parallel machining robot |
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Assignee: Goodway Machine (Suzhou) Co., Ltd. Assignor: Harbin Institute of Technology Contract record no.: 2010320000867 Denomination of invention: Five freedom degree numerically controlled fraise machine Granted publication date: 20080227 License type: Exclusive License Open date: 20060621 Record date: 20100706 |
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