CN204397504U - A kind of parallel machine - Google Patents
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- CN204397504U CN204397504U CN201520049338.6U CN201520049338U CN204397504U CN 204397504 U CN204397504 U CN 204397504U CN 201520049338 U CN201520049338 U CN 201520049338U CN 204397504 U CN204397504 U CN 204397504U
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Abstract
本实用新型公开了一种并联机床。该机床包括工作台,工作台上设置有支撑架,支撑架上设置有顶板,顶板上设置有四个第一电动机,第一电动机的输出轴竖直朝下,第一电动机的输出轴上固定有丝杠,丝杠上配合有螺母,螺母的两侧设置有两个竖直的通孔,通孔内贯穿有导杆,工作台上固定有四个支撑台,支撑台上设置有第二电动机,支撑台上设置有第一转台,第二电动机的输出轴与第一转台固定,顶板的下底面设置有四个第二转台,导杆的下端面固定在第一转台上,导杆的上端面固定在第二转台上;螺母的内侧面设置有连接耳,连接耳上连接有液压推杆,液压推杆的伸缩端通过虎克铰连接有动平台,动平台的上顶面设置有主电机,主电机的输出轴上固定有刀具夹头。
The utility model discloses a parallel machine tool. The machine tool includes a workbench, a support frame is arranged on the workbench, a top plate is arranged on the support frame, four first motors are arranged on the top plate, the output shafts of the first motors face vertically downward, and the output shafts of the first motors are fixed on the There is a lead screw, and a nut is fitted on the lead screw. Two vertical through holes are arranged on both sides of the nut, and a guide rod runs through the through hole. Four support platforms are fixed on the workbench, and a second Motor, the support platform is provided with a first turntable, the output shaft of the second motor is fixed with the first turntable, the lower bottom surface of the top plate is provided with four second turntables, the lower end surface of the guide rod is fixed on the first turntable, the guide rod The upper end surface is fixed on the second turntable; the inner surface of the nut is provided with connecting lugs, and a hydraulic push rod is connected to the connecting lugs. The telescopic end of the hydraulic push rod is connected to the moving platform through the Hooke hinge. Main motor, the output shaft of the main motor is fixed with a tool chuck.
Description
技术领域technical field
本实用新型属于机械加工机床技术领域,特别涉及一种并联机床。The utility model belongs to the technical field of machining machine tools, in particular to a parallel machine tool.
背景技术Background technique
串联机床是由多个轴联动并串联的机床,串联机床的刀具只能沿固定导轨进给,刀具作业自由度低、设备加工灵活性和机动性能不够、加工精度不高、灵活性差、刚度较低、不能加工复杂形状的工件等。并联机床的出现解决了上述问题,并联机床采用多杆并联机构驱动,大大提高了机床的刚度,使加工精度和加工质量都有较大的改进,另外,由于其进给速度的提高,从而使高速、超高速加工更容易实现。由于这种机床具有高刚度、高承载能力、高速度、高精度以及重量轻、无误差积累、机械结构简单、制造成本低、标准化程度高等优点,并联机床开始成为加工制造业研究的热点。虽然并联机床在诸多方面都优于传统的串联机床,但是由于并联机构的几何特性欠缺,造成工作空间小,进而导致并联机床的加工范围小,只能加工某一尺寸段的零件,对于过大或过小的零部件的加工比较困难。The tandem machine tool is a machine tool that is linked and connected in series by multiple axes. The tool of the tandem machine tool can only be fed along the fixed guide rail. Low, cannot process workpieces with complex shapes, etc. The emergence of parallel machine tools solves the above problems. The parallel machine tool is driven by a multi-rod parallel mechanism, which greatly improves the rigidity of the machine tool and greatly improves the machining accuracy and quality. High-speed and ultra-high-speed processing are easier to achieve. Because this kind of machine tool has the advantages of high rigidity, high load capacity, high speed, high precision, light weight, no error accumulation, simple mechanical structure, low manufacturing cost, and high degree of standardization, parallel machine tools have become a hot spot in the research of processing and manufacturing industries. Although the parallel machine tool is superior to the traditional serial machine tool in many aspects, due to the lack of geometric characteristics of the parallel mechanism, the working space is small, and the processing range of the parallel machine tool is small, and it can only process parts of a certain size. Or the processing of parts that are too small is difficult.
实用新型内容Utility model content
本实用新型的目的在于提供一种并联机床,该并联机床扩大了工作空间,并拓宽所加工零件的尺寸范围,且该并联机床结构简单、承载能力强、无累积误差、动作灵敏。The purpose of the utility model is to provide a parallel machine tool, which expands the working space and widens the size range of the processed parts, and the parallel machine tool has simple structure, strong bearing capacity, no cumulative error, and sensitive action.
为达到上述技术目的,本实用新型采用如下技术方案予以实现。In order to achieve the above-mentioned technical purpose, the utility model adopts the following technical solutions to realize.
一种并联机床,其特征在于,包括工作台,所述工作台上设置有支撑架,所述支撑架上设置有顶板,所述顶板上设置有四个第一电动机,所述四个第一电动机均匀设置在同一个圆周上,所述第一电动机的输出轴竖直朝下,每个第一电动机的输出轴上固定有一个丝杠,所述丝杠上配合有螺母,所述螺母的两侧设置有两个竖直的通孔,每个通孔内贯穿有一个导杆,所述工作台上固定有四个支撑台,每个支撑台上设置有一个第二电动机,所述支撑台上设置有第一转台,所述第二电动机的输出轴与第一转台固定,所述顶板的下底面设置有四个第二转台,所述导杆的下端面固定在第一转台上,所述导杆的上端面固定在第二转台上;A parallel machine tool, characterized in that it includes a workbench, a support frame is arranged on the workbench, a top plate is arranged on the support frame, four first motors are arranged on the top plate, and the four first The motors are evenly arranged on the same circumference, the output shaft of the first motor is vertically downward, and a lead screw is fixed on the output shaft of each first motor, and a nut is fitted on the lead screw, and the nut is Two vertical through holes are arranged on both sides, and a guide rod runs through each through hole. Four support platforms are fixed on the workbench, and a second motor is arranged on each support platform. The support A first turntable is arranged on the table, the output shaft of the second motor is fixed to the first turntable, four second turntables are arranged on the lower bottom surface of the top plate, and the lower end surface of the guide rod is fixed on the first turntable, The upper end surface of the guide rod is fixed on the second turntable;
每个螺母的内侧面设置有连接耳,所述连接耳上转动连接有液压推杆,所述液压推杆的伸缩端通过虎克铰连接有动平台,所述动平台的上顶面设置有主电机,所述动平台的下底面设置有刀具夹头,所述主电机的输出轴与刀具夹头固定连接。The inner surface of each nut is provided with a connecting ear, and a hydraulic push rod is rotatably connected to the connecting ear, and the telescopic end of the hydraulic push rod is connected to a moving platform through a Hooke hinge. As for the main motor, the lower bottom surface of the moving platform is provided with a tool holder, and the output shaft of the main motor is fixedly connected with the tool holder.
本技术方案的特点和进一步改进在于:The characteristics and further improvement of this technical solution are:
所述虎克铰包含与液压推杆的伸缩端连接的第一U字形连接件和与动平台连接的第二U字形连接件,所述第一U字形连接件的两侧面对称设置有两个第一轴承,所述第二U字形连接件的两侧面对称设置有两个第二轴承,所述第一轴承和第二轴承之间设置有十字轴。The Hooke hinge includes a first U-shaped connecting piece connected to the telescopic end of the hydraulic push rod and a second U-shaped connecting piece connected to the moving platform, and two sides of the first U-shaped connecting piece are symmetrically arranged. The first bearing and two second bearings are symmetrically arranged on both sides of the second U-shaped connecting member, and a cross shaft is arranged between the first bearing and the second bearing.
所述丝杠为滚珠丝杠。The screw is a ball screw.
所述第二转台与顶板之间设置有轴承。A bearing is arranged between the second turntable and the top plate.
所述丝杠端部设置有编码器,所述螺母上设置有角度传感器;所述液压推杆的伸缩杆上设置有位移传感器。The end of the screw is provided with an encoder, the nut is provided with an angle sensor; the telescopic rod of the hydraulic push rod is provided with a displacement sensor.
本实用新型的并联机床,通过第一电动机带动丝杠旋转,丝杠的旋转和导杆的限位作用使螺母上下移动;第二电动机的转动带动第一转台转动,从而带动两个导杆和螺母围绕丝杠旋转,实现螺母的转动,扩大了并联机床工作空间,拓宽了并联机床的适用范围;应用液压推杆控制刀头的运动,将电气控制和液压控制相结合来控制并联机床的运动轨迹,综合两种控制方式的优点,以达到响应速度快,加工精度高,灵活性强的工作要求。该并联机床扩大了工作空间,并拓宽所加工零件的尺寸范围,且该并联机床结构简单、承载能力强、无累积误差、动作灵敏。In the parallel machine tool of the utility model, the lead screw is driven to rotate by the first motor, and the rotation of the lead screw and the limit function of the guide rod make the nut move up and down; the rotation of the second motor drives the first turntable to rotate, thereby driving the two guide rods and The nut rotates around the lead screw to realize the rotation of the nut, which expands the working space of the parallel machine tool and broadens the scope of application of the parallel machine tool; the hydraulic push rod is used to control the movement of the cutter head, and the combination of electrical control and hydraulic control is used to control the movement of the parallel machine tool Trajectory, combining the advantages of the two control methods to meet the work requirements of fast response, high processing precision and strong flexibility. The parallel machine tool expands the working space and widens the size range of the processed parts, and the parallel machine tool has simple structure, strong bearing capacity, no cumulative error and sensitive action.
附图说明Description of drawings
下面结合附图和具体实施方式对本实用新型作进一步详细说明。The utility model is described in further detail below in conjunction with accompanying drawing and specific embodiment.
图1为本实用新型的一种并联机床的结构示意图;Fig. 1 is the structural representation of a kind of parallel machine tool of the present utility model;
图2为图1中所示的丝杆及导杆的安装的结构示意图;Fig. 2 is the structural representation of the installation of screw mandrel and guide rod shown in Fig. 1;
图3为图1中所示的虎克铰的结构示意图;Fig. 3 is the structural representation of the Hooke hinge shown in Fig. 1;
图4为图1中所示的螺母的结构示意图;Fig. 4 is the structural representation of the nut shown in Fig. 1;
图中:1、工作台;2、支撑架;3、顶板;4、第一电动机;5、丝杠;6、螺母;7、导杆;8、支撑台;9、第二电动机;10、第一转台;11、第二转台;12、连接耳;13、液压推杆;14、虎克铰;15、动平台;16、主电机;17、刀具夹头;In the figure: 1. Workbench; 2. Support frame; 3. Top plate; 4. First motor; 5. Lead screw; 6. Nut; 7. Guide rod; 8. Support platform; 9. Second motor; 10. First turntable; 11. Second turntable; 12. Connecting ear; 13. Hydraulic push rod; 14. Hooke hinge; 15. Moving platform; 16. Main motor; 17. Tool chuck;
141、第一U字形连接件;142、第二U字形连接件;143、第一轴承;144、第二轴承;145、十字轴。141. The first U-shaped connector; 142. The second U-shaped connector; 143. The first bearing; 144. The second bearing; 145. The cross shaft.
具体实施方式Detailed ways
参照图1,为本实用新型的一种并联机床的结构示意图;该并联机床包括工作台1,工作台1上设置有支撑架2,支撑架2上设置有顶板3,顶板3上设置有四个第一电动机4,四个第一电动机4均匀设置在同一个圆周上,第一电动机4的输出轴竖直朝下,每个第一电动机4的输出轴上固定有一个丝杠5,丝杠5上配合有螺母6,螺母6的两侧设置有两个竖直的通孔,每个通孔内贯穿有一个导杆7,工作台1上固定有四个支撑台8,每个支撑台8上设置有一个第二电动机9,本实施例中第二电动机9设置在支撑台8的下面,第二电动机9的转轴伸出支撑台8,第二电动机9也可直接固定在支撑台8上面;支撑台8上设置有第一转台10,本实施例中第一转台10与支撑台8不接触,第一转台10与支撑台8之间也可设置为接触状,在第一转台10与支撑台8安装平面轴承减少摩擦;第二电动机9的输出轴与第一转台10固定,顶板3的下底面设置有四个第二转台11,导杆7的下端面固定在第一转台10上,导杆7的上端面固定在第二转台11上;Referring to Fig. 1, it is a structural schematic diagram of a parallel machine tool of the present utility model; the parallel machine tool includes a workbench 1, a support frame 2 is arranged on the workbench 1, a top plate 3 is arranged on the support frame 2, and four A first motor 4, four first motors 4 are evenly arranged on the same circumference, the output shaft of the first motor 4 is vertically downward, and a lead screw 5 is fixed on the output shaft of each first motor 4, and the screw 5 is fixed on the output shaft of the first motor 4. A nut 6 is fitted on the bar 5, two vertical through holes are arranged on both sides of the nut 6, a guide rod 7 runs through each through hole, and four support platforms 8 are fixed on the workbench 1, each support A second motor 9 is arranged on the platform 8. In the present embodiment, the second motor 9 is arranged under the support platform 8, and the rotating shaft of the second motor 9 stretches out from the support platform 8. The second motor 9 can also be directly fixed on the support platform. 8 above; the support platform 8 is provided with a first turntable 10, the first turntable 10 is not in contact with the support platform 8 in this embodiment, the first turntable 10 and the support platform 8 can also be set as a contact shape, in the first turntable 10 and the support platform 8 are installed with plane bearings to reduce friction; the output shaft of the second motor 9 is fixed to the first turntable 10, the lower bottom surface of the top plate 3 is provided with four second turntables 11, and the lower end surface of the guide rod 7 is fixed on the first turntable 10, the upper end surface of the guide rod 7 is fixed on the second turntable 11;
每个螺母6的内侧面设置有连接耳12,连接耳12上转动连接有液压推杆13,液压推杆13的伸缩端通过虎克铰14连接有动平台15,动平台15的上顶面设置有主电机16,动平台15的下底面设置有刀具夹头17,主电机16的输出轴与刀具夹头17固定连接。The inner surface of each nut 6 is provided with a connecting ear 12, on which a hydraulic push rod 13 is rotatably connected, and the telescopic end of the hydraulic push rod 13 is connected with a moving platform 15 through a Hooke hinge 14, and the upper top surface of the moving platform 15 A main motor 16 is provided, and a tool holder 17 is provided on the lower surface of the moving platform 15 , and the output shaft of the main motor 16 is fixedly connected with the tool holder 17 .
其中,虎克铰14包含与液压推杆13的伸缩端连接的第一U字形连接件141和与动平台15连接的第二U字形连接件142,第一U字形连接件141的两侧面对称设置有两个第一轴承143,第二U字形连接件142的两侧面对称设置有两个第二轴承144,第一轴承142和第二轴承143之间设置有十字轴145。Wherein, the Hooke hinge 14 includes a first U-shaped connecting piece 141 connected with the telescopic end of the hydraulic push rod 13 and a second U-shaped connecting piece 142 connected with the moving platform 15, and the two sides of the first U-shaped connecting piece 141 are symmetrical Two first bearings 143 are provided, two second bearings 144 are symmetrically provided on both sides of the second U-shaped connecting member 142 , and a cross shaft 145 is provided between the first bearings 142 and the second bearings 143 .
其中,丝杠3为滚珠丝杠,滚珠丝杠摩擦力小、效率高。Wherein, the lead screw 3 is a ball screw, which has small friction and high efficiency.
其中,第二转台11与顶板3之间设置有轴承,第二转台11通过轴承相对于顶板3旋转。Wherein, a bearing is provided between the second turntable 11 and the top plate 3 , and the second turntable 11 rotates relative to the top plate 3 through the bearing.
其中,丝杠3端部设置有编码器,螺母6上设置有角度传感器;液压推杆13的伸缩杆上设置有位移传感器,通过上述传感器使并联机床的控制部分形成闭环控制,提高加工精度。Wherein, the end of the lead screw 3 is provided with an encoder, and the nut 6 is provided with an angle sensor; the telescopic rod of the hydraulic push rod 13 is provided with a displacement sensor, through which the control part of the parallel machine tool forms a closed-loop control to improve the machining accuracy.
使用该并联机床时,首先,对所要加工的零件进行装夹定位,根据零件的具体尺寸以及所使用的刀具,来规划刀具的运动轨迹,将其运动轨迹录入相应的计算机中,通过一系列的计算,确定刀具在每个不同点时并联机床各个构件的位置关系;在机床进行加工时,控制部分通过对应的通信接口向运动部分发出控制指令,并通过该通信接口获取运动部分的当前的位置参数,然后运动部分完成控制部分命令处理、实时轨迹规划和输出控制,四个第一电动机4和四个第二电动机9分别控制相应的螺母进行运动,四个液压控制装置分别控制相应的液压推杆进行运动,进而控制动平台15的位置关系,从而实现刀具的各种运动。在机床加工过程中,螺母的增量信号以及伸缩杆的运动信号实时反馈至控制部分,以确保加工过程的精确性。另外,采用电气控制和液压控制的结合可以将电气控制响应快的特点与液压控制精度高的特点相结合,改善并联机床的综合性能。When using the parallel machine tool, firstly, the parts to be processed are clamped and positioned, and the movement trajectory of the tool is planned according to the specific size of the part and the tool used, and its movement trajectory is entered into the corresponding computer. Through a series of Calculate and determine the positional relationship of each component of the parallel machine tool when the tool is at each different point; when the machine tool is processing, the control part sends a control command to the moving part through the corresponding communication interface, and obtains the current position of the moving part through the communication interface parameters, and then the motion part completes the command processing, real-time trajectory planning and output control of the control part. The four first motors 4 and the four second motors 9 respectively control the corresponding nuts to move, and the four hydraulic control devices control the corresponding hydraulic pushers respectively. The rod moves, and then controls the positional relationship of the braking platform 15, thereby realizing various movements of the cutter. During the machining process of the machine tool, the incremental signal of the nut and the movement signal of the telescopic rod are fed back to the control part in real time to ensure the accuracy of the machining process. In addition, the combination of electrical control and hydraulic control can combine the characteristics of fast response of electrical control and high precision of hydraulic control to improve the comprehensive performance of parallel machine tools.
本实用新型的并联机床,通过第一电动机4带动丝杠5旋转,丝杠5的旋转和导杆7的限位作用使螺母6上下移动;第二电动机9的转动带动第一转台转动10,从而带动两个导杆7和螺母6围绕丝杠5旋转,实现螺母6的转动,扩大了并联机床工作空间,拓宽了并联机床的适用范围;应用液压推杆13控制刀头的运动,将电气控制和液压控制相结合来控制并联机床的运动轨迹,综合两种控制方式的优点,以达到响应速度快,加工精度高,灵活性强的工作要求。该并联机床扩大了工作空间,并拓宽所加工零件的尺寸范围,且该并联机床结构简单、承载能力强、无累积误差、动作灵敏。In the parallel machine tool of the present utility model, the first motor 4 drives the lead screw 5 to rotate, and the rotation of the lead screw 5 and the limiting action of the guide rod 7 make the nut 6 move up and down; the rotation of the second motor 9 drives the first turntable to rotate 10, Thereby drive two guide rods 7 and nut 6 to rotate around lead screw 5, realize the rotation of nut 6, expand the working space of parallel machine tool, broaden the scope of application of parallel machine tool; Application hydraulic pressure push rod 13 controls the motion of cutter head, and electric The control and hydraulic control are combined to control the movement trajectory of the parallel machine tool, and the advantages of the two control methods are combined to meet the work requirements of fast response, high machining accuracy and strong flexibility. The parallel machine tool expands the working space and widens the size range of the processed parts, and the parallel machine tool has simple structure, strong bearing capacity, no cumulative error and sensitive action.
尽管以上结合附图对本实用新型的实施方案进行了描述,但是本实用新型并不局限于上述的具体实施方案和应用领域,上述的具体实施方案仅仅是示意性的、指导性的,而不是限制性的。本领域的普通技术人员在说明书的启示下,在不脱离本实用新型权利要求所保护的范围的情况下,还可以做出很多种的形式,这些均属于本实用新型保护之列。Although the embodiments of the present utility model have been described above in conjunction with the accompanying drawings, the present utility model is not limited to the above-mentioned specific embodiments and application fields, and the above-mentioned specific embodiments are only illustrative, instructive, and not limiting sexual. Under the enlightenment of the description, those skilled in the art can also make many forms without departing from the protection scope of the claims of the present invention, and these all belong to the protection of the present invention.
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CN201520049338.6U Expired - Fee Related CN204397504U (en) | 2015-01-23 | 2015-01-23 | A kind of parallel machine |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107717499A (en) * | 2017-11-07 | 2018-02-23 | 广西大学 | A kind of six degree of freedom via Self-reconfiguration becomes cell type parallel machine |
CN110228198A (en) * | 2019-05-30 | 2019-09-13 | 苏州鼎智瑞光智能科技有限公司 | A kind of 3D printer and application method of printable camber line |
WO2021027245A1 (en) * | 2019-08-09 | 2021-02-18 | 山东中衡光电科技有限公司 | Multi-robot machining apparatus for complex surface part |
-
2015
- 2015-01-23 CN CN201520049338.6U patent/CN204397504U/en not_active Expired - Fee Related
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107717499A (en) * | 2017-11-07 | 2018-02-23 | 广西大学 | A kind of six degree of freedom via Self-reconfiguration becomes cell type parallel machine |
CN110228198A (en) * | 2019-05-30 | 2019-09-13 | 苏州鼎智瑞光智能科技有限公司 | A kind of 3D printer and application method of printable camber line |
WO2021027245A1 (en) * | 2019-08-09 | 2021-02-18 | 山东中衡光电科技有限公司 | Multi-robot machining apparatus for complex surface part |
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