CN208913830U - A kind of accurate milling forming machine tool based on parallel tool system - Google Patents
A kind of accurate milling forming machine tool based on parallel tool system Download PDFInfo
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Abstract
The utility model relates to a kind of accurate milling forming machine tool based on parallel tool system, belongs to mechanical manufacturing field.Column is bolted to connection respectively on four angles of lathe bed, workbench is fixedly connected on lathe bed by screw, two y direction guiding rails are bolted to connection four the upper end of the column in arranged on left and right sides respectively, x direction guiding rail is bolted to connection on the slide unit of y direction guiding rail, z direction guiding rail and self-locking device are bolted to connection on the slide unit of x direction guiding rail, polishing tool system in parallel is fixedly connected on connecting plate by bolt, and connecting plate is bolted to connection on the slide unit of z direction guiding rail.Advantage is structure novel, has redundant degree of freedom abundant, and the rigidity of structure is high, and tool path accumulated error is small, and precision is easy to ensure.And macro movement and the control of micromotion are mutually indepedent, will not lead to the problem of multiaxis interference and singular point occurs in arithmetic analysis；Largely improve precision.
Description
Technical Field
The utility model belongs to the machine-building field especially relates to an accurate milling and grinding forming machine tool.
Background
In the high and new technical fields of national defense, military industry, automobile manufacturing, aerospace, navigation and the like, the parts with complex curved surfaces are greatly required, but the parts have complex processing technology, high processing difficulty and high precision requirement, so the manufacturing cost is high. How to improve the machining precision of the parts and reduce the machining difficulty is the key for solving the problems. The machining of complex curved surfaces requires that a tool head has enough freedom, a multi-shaft linkage milling and grinding forming machine tool is usually adopted at present, but the control difficulty is higher and higher along with the increase of the number of shafts, the shafts of the machine tool are connected in series, the track accumulated error is larger, the precision is more and more difficult to control, and the cost is higher and higher. The hybrid milling and grinding machine tool starts to appear in the field of vision of people, reduces unnecessary error accumulation in motion transmission by separating macro motion and micro motion, and more scholars begin to join in the research, but a mechanism for realizing micro motion must have enough redundant degree of freedom and rigidity.
Disclosure of Invention
The utility model provides a precision milling and grinding forming machine tool based on novel parallel tool system to solve current milling and grinding forming machine tool precision and be difficult to control, the big problem of the control degree of difficulty.
The utility model discloses a technical scheme be, including x to the guide rail, z is to guide rail and self-lock device, y is to the guide rail, the stand, the lathe bed, the workstation, parallelly connected burnishing tool system, the connecting plate, wherein the stand has four, respectively through bolt fixed connection on four angles of lathe bed, the workstation passes through screw fixed connection on the lathe bed, two y are respectively to the guide rail through bolt fixed connection on a left side, four stand upper ends of right side both sides, x passes through bolt fixed connection on the slip table of y to the guide rail, z passes through bolt fixed connection on the slip table of x to the guide rail to guide rail and self-lock device, parallelly connected burnishing tool system passes through bolt fixed connection at the connecting plate, the connecting plate passes through bolt fixed connection on the slip table of z.
The x-direction guide rail comprises an x-direction guide rail motor, an x-direction guide rail base, an x-direction guide rail synchronous belt, an x-direction guide rail sliding table, an x-direction guide rail tensioning wheel and an x-direction guide rail pin shaft, wherein the x-direction guide rail motor is fixedly connected in a motor base of the x-direction guide rail base through screws, the x-direction guide rail is fixedly connected on the x-direction guide rail base through screws, the x-direction guide rail sliding table is in sliding connection with the x-direction guide rail, the x-direction guide rail tensioning wheel is fixed on the x-direction guide rail base through the x-direction guide rail pin shaft, the pin shaft is in threaded connection with the x-direction guide rail base, and the x-direction guide rail synchronous belt is wrapped.
The y-direction guide rail comprises a y-direction guide rail base, a y-direction guide rail sliding table, a y-direction guide rail synchronous belt, a y-direction guide rail tensioning wheel, a y-direction guide rail pin shaft and a y-direction guide rail motor, wherein the y-direction guide rail motor is fixedly connected in a motor base of the y-direction guide rail base through screws, the y-direction guide rail is fixedly connected on the y-direction guide rail base through screws, the y-direction guide rail sliding table is in sliding connection with the y-direction guide rail, the y-direction guide rail tensioning wheel is fixed on the y-direction guide rail base through the y-direction guide rail pin shaft, the y-direction guide rail pin shaft is in threaded connection with the y-direction guide rail base, and the y-direction guide rail synchronous belt is.
The z-direction guide rail and self-locking device comprises chain wheels, chains, a z-direction guide rail motor, weight boxes, chain connecting blocks, pneumatic push rods, a coupler, a z-direction guide rail sliding table, a z-direction guide rail base, a z-direction guide rail lead screw, a z-direction guide rail lead screw mounting seat and a rack, wherein the two weight boxes are respectively connected to the left side and the right side of the back of the rack through screws, the four chain wheels are connected to the four corners of the upper surface of the rack through mounting seats, the z-direction guide rail base is fixedly connected to the front end surface of the rack through screws, the z-direction guide rail motor is fixedly connected to the upper end surface of the z-direction guide rail base through screws, the two z-direction guide rail lead screw mounting seats are fixedly connected to the front of the z-direction guide rail base through screws, the z-direction guide rail lead screw penetrates through bearings of the, screw nuts of the z-direction guide rail sliding table are in threaded connection with a z-direction guide rail screw rod, a sliding block of the z-direction guide rail sliding table is in sliding connection with the z-direction guide rail, two chain connecting blocks are connected to the left side and the right side of the z-direction guide rail sliding table through screws, one end of each chain is connected with the corresponding chain connecting block through a pin, the other end of each chain is connected with a counter weight block of the weight box through a pin, and two pneumatic push rods are connected to the left side and the right.
The parallel polishing tool system comprises a static platform, a Hooke joint, a screw module, a connecting block, a claw-shaped connecting piece, a movable platform module and a spherical joint, wherein three hook hinge passes through screw fixed connection respectively on quiet platform, three lead screw module passes through bolt fixed connection with three hook hinge respectively, three connecting block passes through screw fixed connection at lead screw module terminal surface, two claw type connecting pieces pass through screw fixed connection on the connecting block that is located the quiet platform left and right sides, the ball joint passes through screw fixed connection on a remaining connecting block, the connecting piece passes through screw fixed connection on claw type connecting piece, two connecting pieces pass through screw fixed connection and move the platform module left and right sides, two connecting pieces one and two claw type connecting pieces that are located the quiet platform left and right sides are articulated through the round pin axle, a remaining connecting piece two is articulated with the cross axle of ball joint.
The lead screw module includes the motor, motor mounting plate, a guide rail, the slip table, displacement sensor, the connecting bottom plate, the motor shaft coupling, the lead screw mount pad, photoelectric sensor, the lead screw, the module bottom plate, wherein the motor passes through screw fixed connection on motor mounting plate, motor mounting plate passes through screw fixed connection on the module bottom plate, the guide rail passes through screw fixed connection on the module bottom plate, the connecting bottom plate passes through screw connection on the module bottom plate, the lead screw mount pad passes through screw connection and fixes on the module bottom plate, photoelectric sensor passes through screw fixed connection with the module bottom plate, motor shaft coupling passes through pin joint with the main shaft and the lead screw of motor, the lead screw nut and the lead screw of slip table pass through threaded connection, the slider and the guide rail sliding connection of slip table, displacement sensor's measurement telescopic link passes through bolt.
The slip table include sensor response piece, slip table base, sensor connecting plate, screw mounting panel, screw nut, slider, wherein sensor response piece passes through screw fixed connection at the left surface of slip table base, the slider passes through screw fixed connection in the bottom surface of slip table base, the sensor connecting plate passes through screw connection with the slip table base, the screw mounting panel passes through screw connection in the bottom surface recess of slip table base, screw nut passes through screw connection on the screw mounting panel.
The hook joint comprises a hook joint base and a short shaft, and the short shaft penetrates through a bearing of the base and is fixed by a thrust ring; the spherical hinge comprises a spherical hinge base and a cross shaft, and the cross shaft penetrates through a bearing of the spherical hinge base and is fixed by a thrust ring; the spherical hinge base has the same structure as the hook hinge base;
the Hooke hinge base include the bearing, go up the connecting seat, the end cover, lower connecting seat, go up the base, lower base, short round pin, step shaft, bearing, wherein the bearing passes through the bearing mounting hole of last connecting seat and uses the end cover chucking, the end cover passes through the screw connection on last connecting seat, go up connecting seat 7 through the fix with screw under on the connecting seat, go up the base and pass through bolted connection with lower base, the step shaft passes through two bearings and goes up the base, lower base adopts the mode of both ends fixed, step shaft and lower connecting seat are through short round pin connection.
The movable platform module comprises a spindle motor, a spindle motor mounting seat, a movable platform, a short taper pin and a tool head, wherein the spindle motor is connected in the spindle motor mounting seat through a screw, the spindle motor mounting seat is connected on the movable platform through a screw, and a spindle of the spindle motor is connected with the tool head through threads and is fixed through the short taper pin.
The utility model has the advantages that: the machine tool is mainly designed into two parts, the movement for realizing the requirements of polishing processing track and position is realized by a three-axis machine tool, the machine tool is a series machine tool and consists of three axes of X, Y and Z, the three-axis movement is realized, the movement for adjusting the posture of the polishing tool head is completed by a parallel tool system, and the parallel tool system is a three-degree-of-freedom 3-PRS parallel mechanism. The error accumulation caused by mutual series connection of the shafts of the multi-shaft linkage milling and grinding forming machine tool is avoided, and the parallel mechanism has abundant redundant degrees of freedom, high structural rigidity, small tool track accumulated error and easy precision guarantee. The macro motion and the micro motion are controlled independently, so that the problems of multi-axis interference and singular point in algorithm analysis are avoided; the accuracy is improved to a great extent.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
fig. 2 is a schematic structural view of the x-direction guide rail of the present invention;
fig. 3 is a schematic structural view of the z-direction guide rail and the self-locking device of the present invention;
fig. 4 is a schematic structural view of the y-direction guide rail of the present invention;
fig. 5 is a schematic structural view of the parallel tool system of the present invention;
fig. 6 is a schematic structural diagram of the screw module of the present invention;
fig. 7 is a schematic structural view of the sliding table of the screw module of the present invention;
FIG. 8 is a schematic structural view of a hook joint of the present invention;
fig. 9 is a schematic structural diagram of the spherical hinge of the present invention;
fig. 10 is a cross-sectional view of the hooke's hinge base of the present invention;
fig. 11 is a sectional view of the movable platform module of the present invention;
FIG. 12 is a schematic view of the connection structure of the movable platform of the present invention;
FIG. 13 is a simplified block diagram of a parallel polishing tool system;
fig. 14 is a force analysis diagram of the tool head.
Detailed Description
Including x to guide rail 1, z is to guide rail and self-lock device 2, y is to guide rail 3, stand 4, lathe bed 5, workstation 6, parallelly connected burnishing tool system 7, connecting plate 8, wherein stand 4 has four, respectively through bolt fixed connection on four angles of lathe bed 5, workstation 6 passes through screw fixed connection on lathe bed 5, 3 one left sides of two y to guide rails are respectively through bolt fixed connection on a left side, four stand 4 upper ends of right side both sides, x is to guide rail 1 through bolt fixed connection on the slip table of y to guide rail 3, z is to guide rail and self-lock device 2 through bolt fixed connection on the slip table of x to guide rail 1, parallelly connected burnishing tool system 7 is through bolt fixed connection at connecting plate 8, connecting plate 8 is through bolt fixed connection on the slip table of z to guide rail 2.
The x-direction guide rail 1 comprises an x-direction guide rail motor 101, an x-direction guide rail base 102, an x-direction guide rail synchronous belt 103, an x-direction guide rail 104, an x-direction guide rail sliding table 105, an x-direction guide rail tension pulley 106 and an x-direction guide rail pin 107, wherein the x-direction guide rail motor 101 is fixedly connected in a motor base of the x-direction guide rail base 102 through screws, the x-direction guide rail 104 is fixedly connected on the x-direction guide rail base 102 through screws, the x-direction guide rail sliding table 105 is in sliding connection with the x-direction guide rail 104, the x-direction guide rail tension pulley 106 is fixedly connected on the x-direction guide rail base 102 through the x-direction guide rail pin 107, the pin is in threaded connection with the x-direction guide rail base 102, and the x-direction guide rail synchronous belt 103 is wrapped on a driving wheel of the.
The y-direction guide rail 3 comprises a y-direction guide rail base 301, a y-direction guide rail 302, a y-direction guide rail sliding table 303, a y-direction guide rail synchronous belt 304, a y-direction guide rail tensioning wheel 305, a y-direction guide rail pin 306 and a y-direction guide rail motor 307, wherein the y-direction guide rail motor 307 is fixedly connected in a motor base of the y-direction guide rail base 301 through screws, the y-direction guide rail 302 is fixedly connected on the y-direction guide rail base 301 through screws, the y-direction guide rail sliding table 303 is in sliding connection with the y-direction guide rail 302, the y-direction guide rail tensioning wheel 305 is fixedly connected on the y-direction guide rail base 301 through the y-direction guide rail pin 306, the y-direction guide rail pin 306 is in threaded connection with the y-direction guide rail base 301, and the y-direction guide rail synchronous belt 304 is wrapped on a driving wheel.
The z-direction guide rail and self-locking device 2 comprises a chain wheel 201, a chain 202, a z-direction guide rail motor 203, weight boxes 204, a chain connecting block 205, a pneumatic push rod 206, a coupler 207, a z-direction guide rail sliding table 208, a z-direction guide rail base 209, a z-direction guide rail lead screw 210, a z-direction guide rail 211, a z-direction guide rail lead screw mounting base 212 and a rack 213, wherein the two weight boxes 204 are respectively connected to the left side and the right side of the rear surface of the rack 213 through screws, the four chain wheels 201 are connected to the four corners of the upper surface of the rack 213 through mounting bases, the z-direction guide rail base 209 is fixedly connected to the front end surface of the rack 213 through screws, the z-direction guide rail motor 203 is fixedly connected to the upper end surface of the z-direction guide rail base 209 through screws, the two z-direction guide rail lead screw mounting bases 212 are fixedly connected to the front surface, the coupling 207 is connected with a main shaft of the z-direction guide rail motor 203 and a z-direction guide rail lead screw 210 through pins, a lead screw nut of the z-direction guide rail sliding table 208 is connected with the z-direction guide rail lead screw 210 through threads, a slide block of the z-direction guide rail sliding table 208 is connected with the z-direction guide rail 211 in a sliding mode, the two chain connecting blocks 205 are connected to the left side and the right side of the z-direction guide rail sliding table 208 through screws, one end of the chain 202 is connected with the chain connecting blocks 205 through pins, the other end of the chain is connected with a counter weight block of the weight box 204 through pins, and the two.
The parallel polishing tool system 7 comprises a static platform 701, hooke joints 702, a lead screw module 703, connecting blocks 704, claw-shaped connecting pieces 705, connecting pieces 706, connecting pieces 707, a movable platform module 708 and ball joints 709, wherein three hooke joints 702 are respectively and fixedly connected to the static platform 701 through screws, three lead screw modules 703 are respectively and fixedly connected with three hooke joints 702 through bolts, three connecting blocks 704 are fixedly connected to the end surface of the lead screw module 703 through screws, two claw-shaped connecting pieces 705 are fixedly connected to the connecting blocks 704 positioned at the left side and the right side of the static platform 701 through screws, the ball joints 709 are fixedly connected to the rest connecting block 704 through screws, the connecting pieces 706 are fixedly connected to the claw-shaped connecting pieces 705 through screws, two connecting pieces 707 are fixedly connected to the left side and the right side of the movable platform module 708 through screws, two connecting pieces 706 and two claw-shaped connecting pieces 705 positioned at the left side and the right, The remaining second connecting member 707 is hinged to the cross of the ball joint 709.
The lead screw module 703 comprises a motor 70301, a motor mounting base plate 70302, a guide rail 70303, a sliding table 70304, a displacement sensor 70305, a connecting base plate 70306, a motor coupler 70307, a lead screw mounting seat 70308, a photoelectric sensor 70309, a lead screw 70310 and a module base plate 70311, wherein the motor 70301 is fixedly connected to the motor mounting base plate 70302 through screws, the motor mounting base plate 70302 is fixedly connected to the module base plate 70311 through screws, the guide rail 70303 is fixedly connected to the module base plate 70311 through screws, the connecting base plate 70306 is connected to the module base plate 70311 through screws, the lead screw mounting seat 70308 is fixedly connected to the module base plate 70311 through screws, the photoelectric sensor 70309 is fixedly connected to the module base plate through screws, the motor coupler 70307 is connected to a main shaft of the motor 70301 and the lead screw 70310 through pins, a lead screw nut of the sliding table 70304 is connected to the lead screw 70310 through threads, and a, the measuring telescopic rod of the displacement sensor 70305 is fixedly connected to the connecting plate of the sliding table 70304 through bolts.
The sliding table 70304 comprises a sensor sensing piece 7030401, a sliding table base 7030402, a sensor connecting plate 7030403, a nut mounting plate 7030404, a screw nut 7030405 and a sliding block 7030406, wherein the sensor sensing piece 7030401 is fixedly connected to the left side face of the sliding table base 7030402 through screws, the sliding block 7030406 is fixedly connected to the bottom face of the sliding table base 7030402 through screws, the sensor connecting plate 7030403 is connected with the sliding table base 7030402 through screws, the nut mounting plate 7030404 is connected to the bottom face of the sliding table base 7030402 through screws, and the screw nut 7030405 is connected to the nut mounting plate 7030404 through screws.
The Hooke joint 702 comprises a Hooke joint base 70201 and a short shaft 70202, and the short shaft 70202 penetrates through a bearing of the base 70201 and then is fixed by a thrust ring; the spherical hinge 709 comprises a spherical hinge base 70902 and a cross 70901, and the cross 70901 is fixed by a thrust ring after passing through a bearing of the spherical hinge base 70902; the spherical hinge base 70902 has the same structure as the hook hinge base 70201;
the Hooke's hinge base 70201 include bearing 7020101, upper connecting seat 7020102, end cover 7020103, lower connecting seat 7020104, upper base 7020105, lower base 7020106, short round pin 7020107, step shaft 7020108, bearing 7020109, wherein bearing 7020101 passes through the bearing mounting hole of upper connecting seat 7020102 and is blocked with end cover 7020103, end cover 7020103 passes through the screw connection on upper connecting seat 7020102, upper connecting seat 7020102 passes through the screw fixation on lower connecting seat 7020104, upper base 7020105 and lower base 7020106 pass through bolted connection, step shaft 7020108 passes through two bearings 7020109 and upper base 7020105, lower base 7020106 adopts the mode of both ends fixed to fix, step shaft 7020108 and lower connecting seat 7020104 pass through short round pin 7020107 and connect.
The movable platform module 708 comprises a main shaft motor 70801, a main shaft motor mounting seat 70802, a movable platform 70803, a short taper pin 70804 and a tool head 70805, wherein the main shaft motor 70801 is connected in the main shaft motor mounting seat 70802 through a screw, the main shaft motor mounting seat 70802 is connected on the movable platform 70803 through a screw, and a main shaft of the main shaft motor 70801 and the tool head 70805 are connected through threads and fixed through a short taper pin 70804.
The utility model discloses control method of accurate milling and grinding forming machine based on novel parallelly connected tool system, including following step:
establishing a coordinate system XYZ by taking the geometric center of the static platform 701 as an origin, wherein the Z axis is a straight line passing through the geometric center of the static platform 701 in the vertical direction, the X axis is a horizontal straight line in the horizontal plane and parallel to the X-direction guide rail 1 through the geometric center of the static platform 701, the Y axis is a horizontal straight line in the horizontal plane and parallel to the Y-direction guide rail 3 through the geometric center of the static platform 701, establishing a coordinate system X 'Y' Z 'by taking the geometric center of the movable platform module 708 as the origin, wherein the Z' axis is a straight line passing through the geometric center of the movable platform module 708 in the vertical direction, the X 'axis is a horizontal straight line in the horizontal plane and parallel to the X-direction guide rail 1 through the geometric center of the movable platform module 708, the Y' axis is a horizontal straight line in the horizontal plane and parallel to the Y-direction guide rail 3 through the geometric center of the movable platform module 708, and after a workpiece is clamped and fixed on the worktable by, the parallel polishing tool system is sent to the position of a point to be processed by using the three-axis mobile platform, and the positions of the static platform and the workpiece are determined;
(II) describing the motion geometrical relationship of the movable platform module in the static platform coordinate system XYZ:
let A1、B1、C1The coordinate vectors in the XYZ coordinate system are:
A1＝(A1x,A1y,A1z)T＝(2D,0,0)T
B1＝(B1x,B1y,B1z)T＝(-D,H,0)T
C1＝(C1x,C1y,C1z)T＝(-D,-H,0)T
let A2、B2、C2The coordinate vectors in the X ' Y ' Z ' coordinate system are:
A2＝(2d,0,0)T
B2＝(-d,h,0)T
C2＝(-d,-h,0)T
wherein A is1、B1、C1Is a hinge point of the stationary platform, A2、B2、C2Is a hinge point of the movable platform module;
the relationship between the continuous rotation and translation of the movable platform module 708 relative to the stationary platform 701 is described by a matrix (α, z), where α represents the angle of rotation of the movable platform module 708 about the X, Y axis, and z represents the movable platformThe amount of movement of the module 708 in the Z-axis direction is R, and the rotation transformation matrix around the X-axis transformed to the stationary platform 701 by the movable platform module 708 is RxRotating transformation matrix R around Y axisyTranslation transformation matrix P along Z axiszThe specific transformation matrix is:
when the movable platform module 708 rotates continuously with respect to the stationary platform 701, the attitude transformation matrix is:
(A2x,A2y,A2z)T、(B2x,B2y,B2z)T、(C2x,C2y,C2z)Trespectively represent A in the coordinate system of the movable platform module 7082、B2、C2Coordinate vector transformed into stationary platform 701 coordinate system
(A2x,A2y,A2z)T＝(2dcosβ,0,-2dsinβ+z)T
(C2x,C2y,C2z)T＝(d cosβ-h sinαsinβ,-h cosα,d sinβ-h sinαcosβ+z)T
(III) A1A2、B1B2、C1C2The length of the movable platform module
In combination with step (ii), A is the movable platform module 708 at any attitude1A2、B1B2、C1C2Length of (d):
in the attitude change process, three lead screw module control motors control the sliding table movement distance respectively to be:
wherein lA0、lB0、lC0A before pose adjustment is respectively carried out on the movable platform module 7081A2、B1B2、C1C2Length of (l)A1、lB1、lC1Respectively A after the pose adjustment of the movable platform module 7081A2、B1B2、C1C2Length of △ lA、△lB、△lCIs represented by A1A2、B1B2、C1C2The amount of change in length of (c);
in summary, any posture of the movable platform module 708 always has a unique A1A2、B1B2、C1C2Is corresponding to the length of the contact part, and can be controlled by controlling the contact part A under the condition of no external force1A2、B1B2、C1C2The length of the movable platform module 708 can be controlled to reach the theoretical correct position X, but the actual position of the movable platform module 708 is Xa due to the influence of the contact force on the tool head in the machining process;
(IV) eliminating errors caused by the deformation of the tool head due to stress
During machining, the tool head contacts with the machined surface of the workpiece to generate normal contact force and tangential friction force, the tangential friction force is ignored, and in order to achieve the best machining effect, the normal contact force is expected to be controlled within a certain range and is set to be FNThe hertzian contact theory was applied to analyze the stress of the process: the tool head is regarded as a rigid material, when the tool head is contacted with a processed curved surface, the processed surface generates micro deformation at a contact point, two contacted objects are ideally processed, a workpiece is taken as a flexible body, the tool head is regarded as a rigid body, and all elastic deformation is generated on the workpiece;
from Hertz theory, the deformation epsilon and the contact force F are knownNSatisfies the following formula:
contact force FN：
From the known elastic deformation amount ε, the relative elastic modulus amount E*Tool head and workpiece surface ReAll to polishing force FNAn influence is generated. But in one step of the process, the relative modulus of elasticity E*And the relative curvature radius R of the tool head and the curved surface of the workpiece at the initial contact pointeIs determined so that the amount of normal elastic deformation epsilon and the contact force FNAre directly related. The normal deformation of the workpiece under the expected contact force can be distributed to the motion amount of each workbench of the machine tool according to the motion trail plan, and the position of the tool head in a static platform coordinate system XYZ is Xb;
(V) impedance control contact force control model based on position
(1) Detection of tool head normal contact force
Each mechanical arm of the three-degree-of-freedom parallel structure tool system is provided with a force sensor which can detect the stress of the arm along the arm direction. The mechanical arm A can be known from the stress relation1A2Component force of the thrust force of the movable platform along the normal direction of the movable platform:
in the same way, the mechanical arm B1B2Mechanical arm C1C2Component force of the thrust force of the movable platform along the normal direction of the movable platform:
F2n＝F2cosγ
F3n＝F3cosδ
the tool head normal contact force:
wherein,is aA0And plane A2B2C2Gamma is lB0And plane A2B2C2Delta is lC0And plane A2B2C2Angle of (D) F1Is along lA0Force in the direction F2Is along lB0Force in the direction F3Is along lC0The force in the direction G is the gravity of the movable platform module, and theta is the gravity and the plane A2B2C2The included angle of (a).
(2) Impedance model
The force sensor detects real-time contact force, the real-time contact force is compared with theoretical contact force required by machining, and the difference between the real-time contact force and the theoretical contact force is obtained to obtain an error FeWill error FeInput into the outer loop impedance control model H (f). The impedance control model generates a contact force error F according to corresponding calculationeCorresponding displacement correction quantity E is input into the inner ring position control model GpIn (1). And the inner ring position control model outputs corresponding position correction information to a motion mathematical model G of the three-degree-of-freedom parallel polishing tool system. According to the control strategy, the following impedance control model can be established:
in order to ensure the transition stability during the tool head control process, the parameters should first satisfy the following formula:
wherein M isdIs a target inertia matrix, BdIs the target damping matrix, KdIs a target stiffness matrix, E is a deviation correction value of the actual position and the theoretical position of the tool head, FeIs the difference between the contact force detection value and the theoretical value;
the control model can realize that the controller generates a position correction quantity E according to the error between the real-time polishing force value and the expected value, and the correction quantity E is added to △ l through the inverse kinematics solutionA、△lB、△lCTo obtain the final machining position Xc.
In summary, the machine tool is generally divided into two parts: the three-axis machine tool mainly achieves the purpose that the parallel tool system is transferred to the position of a machining point, the parallel tool system mainly achieves the posture adjustment of a tool head in space and the advancing and retreating of a tool head in the Z direction, the length variable quantities of three mechanical arms for connecting a movable platform and a static platform are reversely solved through the postures of an ideal tool system at the position of the machining point, and the position of the movable platform is controlled by controlling the lengths of the three mechanical arms.
Claims (10)
1. The utility model provides a precision milling and grinding forming machine tool based on novel parallelly connected tool system which characterized in that: including x to the guide rail, z is to guide rail and self-lock device, y is to the guide rail, the stand, the lathe bed, the workstation, parallelly connected burnishing tool system, the connecting plate, wherein the stand has four, respectively through bolt fixed connection on four angles of lathe bed, the workstation passes through screw fixed connection on the lathe bed, two y are to the guide rail respectively through bolt fixed connection on a left side, four stand upper ends of right side both sides, x is to the guide rail through bolt fixed connection on the slip table of y to the guide rail, z is to guide rail and self-lock device through bolt fixed connection on the slip table of x to the guide rail, parallelly connected burnishing tool system is through bolt fixed connection at the connecting plate, the connecting plate passes through bolt fixed connection on the slip table of z.
2. The precision milling and grinding forming machine tool based on the novel parallel tool system is characterized in that: the x-direction guide rail comprises an x-direction guide rail motor, an x-direction guide rail base, an x-direction guide rail synchronous belt, an x-direction guide rail sliding table, an x-direction guide rail tensioning wheel and an x-direction guide rail pin shaft, wherein the x-direction guide rail motor is fixedly connected in a motor base of the x-direction guide rail base through screws, the x-direction guide rail is fixedly connected on the x-direction guide rail base through screws, the x-direction guide rail sliding table is in sliding connection with the x-direction guide rail, the x-direction guide rail tensioning wheel is fixed on the x-direction guide rail base through the x-direction guide rail pin shaft, the pin shaft is in threaded connection with the x-direction guide rail base, and the x-direction guide rail synchronous belt is wrapped.
3. The precision milling and grinding forming machine tool based on the novel parallel tool system is characterized in that: the y-direction guide rail comprises a y-direction guide rail base, a y-direction guide rail sliding table, a y-direction guide rail synchronous belt, a y-direction guide rail tensioning wheel, a y-direction guide rail pin shaft and a y-direction guide rail motor, wherein the y-direction guide rail motor is fixedly connected in a motor base of the y-direction guide rail base through screws, the y-direction guide rail is fixedly connected on the y-direction guide rail base through screws, the y-direction guide rail sliding table is in sliding connection with the y-direction guide rail, the y-direction guide rail tensioning wheel is fixed on the y-direction guide rail base through the y-direction guide rail pin shaft, the y-direction guide rail pin shaft is in threaded connection with the y-direction guide rail base, and the y-direction guide rail synchronous belt is.
4. The precision milling and grinding forming machine tool based on the novel parallel tool system is characterized in that: the z-direction guide rail and self-locking device comprises chain wheels, chains, a z-direction guide rail motor, weight boxes, chain connecting blocks, pneumatic push rods, a coupler, a z-direction guide rail sliding table, a z-direction guide rail base, a z-direction guide rail lead screw, a z-direction guide rail lead screw mounting seat and a rack, wherein the two weight boxes are respectively connected to the left side and the right side of the back of the rack through screws, the four chain wheels are connected to the four corners of the upper surface of the rack through mounting seats, the z-direction guide rail base is fixedly connected to the front end surface of the rack through screws, the z-direction guide rail motor is fixedly connected to the upper end surface of the z-direction guide rail base through screws, the two z-direction guide rail lead screw mounting seats are fixedly connected to the front of the z-direction guide rail base through screws, the z-direction guide rail lead screw penetrates through bearings of the, screw nuts of the z-direction guide rail sliding table are in threaded connection with a z-direction guide rail screw rod, a sliding block of the z-direction guide rail sliding table is in sliding connection with the z-direction guide rail, two chain connecting blocks are connected to the left side and the right side of the z-direction guide rail sliding table through screws, one end of each chain is connected with the corresponding chain connecting block through a pin, the other end of each chain is connected with a counter weight block of the weight box through a pin, and two pneumatic push rods are connected to the left side and the right.
5. The precision milling and grinding forming machine tool based on the novel parallel tool system is characterized in that: the parallel polishing tool system comprises a static platform, a Hooke joint, a screw module, a connecting block, a claw-shaped connecting piece, a movable platform module and a spherical joint, wherein three hook hinge passes through screw fixed connection respectively on quiet platform, three lead screw module passes through bolt fixed connection with three hook hinge respectively, three connecting block passes through screw fixed connection at lead screw module terminal surface, two claw type connecting pieces pass through screw fixed connection on the connecting block that is located the quiet platform left and right sides, the ball joint passes through screw fixed connection on a remaining connecting block, the connecting piece passes through screw fixed connection on claw type connecting piece, two connecting pieces pass through screw fixed connection and move the platform module left and right sides, two connecting pieces one and two claw type connecting pieces that are located the quiet platform left and right sides are articulated through the round pin axle, a remaining connecting piece two is articulated with the cross axle of ball joint.
6. The precision milling and grinding forming machine tool based on the novel parallel tool system is characterized in that: the lead screw module includes the motor, motor mounting plate, a guide rail, the slip table, displacement sensor, the connecting bottom plate, the motor shaft coupling, the lead screw mount pad, photoelectric sensor, the lead screw, the module bottom plate, wherein the motor passes through screw fixed connection on motor mounting plate, motor mounting plate passes through screw fixed connection on the module bottom plate, the guide rail passes through screw fixed connection on the module bottom plate, the connecting bottom plate passes through screw connection on the module bottom plate, the lead screw mount pad passes through screw connection and fixes on the module bottom plate, photoelectric sensor passes through screw fixed connection with the module bottom plate, motor shaft coupling passes through pin joint with the main shaft and the lead screw of motor, the lead screw nut and the lead screw of slip table pass through threaded connection, the slider and the guide rail sliding connection of slip table, displacement sensor's measurement telescopic link passes through bolt.
7. The precision milling and grinding forming machine tool based on the novel parallel tool system is characterized in that: the slip table include sensor response piece, slip table base, sensor connecting plate, screw mounting panel, screw nut, slider, wherein sensor response piece passes through screw fixed connection at the left surface of slip table base, the slider passes through screw fixed connection in the bottom surface of slip table base, the sensor connecting plate passes through screw connection with the slip table base, the screw mounting panel passes through screw connection in the bottom surface recess of slip table base, screw nut passes through screw connection on the screw mounting panel.
8. The precision milling and grinding forming machine tool based on the novel parallel tool system is characterized in that: the hook joint comprises a hook joint base and a short shaft, and the short shaft penetrates through a bearing of the base and is fixed by a thrust ring; the spherical hinge comprises a spherical hinge base and a cross shaft, and the cross shaft penetrates through a bearing of the spherical hinge base and is fixed by a thrust ring; the spherical hinge base and the Hooke hinge base have the same structure.
9. The precision milling and grinding forming machine tool based on the novel parallel tool system is characterized in that: the Hooke hinge base include the bearing, go up the connecting seat, the end cover, lower connecting seat, go up the base, lower base, short round pin, step shaft, bearing, wherein the bearing passes through the bearing mounting hole of last connecting seat and uses the end cover chucking, the end cover passes through the screw connection on last connecting seat, go up connecting seat 7 through the fix with screw under on the connecting seat, go up the base and pass through bolted connection with lower base, the step shaft passes through two bearings and goes up the base, lower base adopts the mode of both ends fixed, step shaft and lower connecting seat are through short round pin connection.
10. The precision milling and grinding forming machine tool based on the novel parallel tool system is characterized in that: the movable platform module comprises a spindle motor, a spindle motor mounting seat, a movable platform, a short taper pin and a tool head, wherein the spindle motor is connected in the spindle motor mounting seat through a screw, the spindle motor mounting seat is connected on the movable platform through a screw, and a spindle of the spindle motor is connected with the tool head through threads and is fixed through the short taper pin.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109129158A (en) * | 2018-10-30 | 2019-01-04 | 吉林大学 | Accurate milling forming machine tool and its control method based on parallel tool system |
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