CN210998684U - Three-branch three-degree-of-freedom redundant drive type parallel machining head - Google Patents
Three-branch three-degree-of-freedom redundant drive type parallel machining head Download PDFInfo
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- CN210998684U CN210998684U CN201920995059.7U CN201920995059U CN210998684U CN 210998684 U CN210998684 U CN 210998684U CN 201920995059 U CN201920995059 U CN 201920995059U CN 210998684 U CN210998684 U CN 210998684U
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Abstract
The utility model discloses a three-branch three-degree-of-freedom redundant drive type parallel machining head, including electric main shaft, machining table and three the same drive branch, every drive branch all contains first drive unit, second drive unit, connecting rod one and connecting rod two, the one end of connecting rod one and connecting rod two is articulated mutually with first drive unit and second drive unit through fourth revolute pair and fifth revolute pair respectively, and the other end of connecting rod one and connecting rod two is all articulated mutually through third revolute pair and cross axle, and the cross axle is articulated mutually through second revolute pair and free bearing side through-hole simultaneously, and free bearing bottom side through-hole is articulated mutually through first revolute pair with the machining table, and the electric main shaft is equipped with at the machining table center. The utility model discloses a redundant driven structural style can improve the load situation of driver, and bearing capacity is strong, the overload problem of driver when avoiding processing complicated large-scale work piece.
Description
Technical Field
The utility model relates to a three-branch three-degree-of-freedom redundant drive type parallel machining head, which belongs to the field of parallel mechanics.
Background
With the continuous development of advanced manufacturing industries such as aerospace, automobiles and the like, the processed parts are more complex, the processing precision and the process requirements are higher and higher, and higher requirements are provided for the current processing equipment. The traditional series machine tool occupies small space and large working space, but can not meet the two-way requirements of precision and rigidity; although the single type of parallel machine tool can meet the requirements on rigidity and precision, the parallel machine tool occupies a large space and has a relatively small operation space, so that the resource waste is caused. Therefore, the advantages of the series machine tool and the parallel machine tool are combined, the parallel machining head is adopted, the modularization and the integration are realized, the serial machining head can be combined with the series track to form the serial-parallel multi-axis machining center, and the good machining effect is realized. Among them, the parallel machining head is the key to determine the machining performance of such a multi-axis machining center.
At present, the more mature parallel processing heads in the market comprise a Tricept processing module, an Execho processing module, a Z3 head, an A3 head and the like. The Tricept processing module and the Execho processing module are asymmetric redundant driving mechanisms, the isotropy of the rigidity of the mechanisms is weak, and the control difficulty is high; the Z3 head and the A3 head are both symmetrical non-redundant driving mechanisms, and the driving mechanisms have high requirements on the load performance of driving and have weak adaptability to the processing environment.
SUMMERY OF THE UTILITY MODEL
The utility model provides a technical problem:
aiming at the problems that when a three-degree-of-freedom parallel machining head exists in the current market, when a large-scale load workpiece is machined, the load capacity of a driver is limited, the overall rigidity of a mechanism is low, and meanwhile, the mechanism has a singular configuration and the operability is limited, a three-branch three-degree-of-freedom redundant drive type parallel machining head is provided, so that the operability and the overall rigidity of the existing three-degree-of-freedom parallel machining head are improved, and the adaptability of the existing three-degree-of-freedom parallel machining head to a complex machining environment.
The technical solution of the utility model is as follows:
a three-branch three-degree-of-freedom redundant drive type parallel machining head comprises an electric spindle, a machining table and three same drive branches, wherein each drive branch comprises a first drive unit, a second drive unit, a first connecting rod and a second connecting rod, one ends of the first connecting rod and the second connecting rod are hinged with the first drive unit and the second drive unit through a fourth revolute pair and a fifth revolute pair respectively, the other ends of the first connecting rod and the second connecting rod are hinged with a cross shaft through a third revolute pair, the cross shaft is hinged with a side through hole of a hinged support through the second revolute pair at the same time, a bottom through hole of the hinged support is hinged with the machining table through the first revolute pair, and the electric spindle is arranged in the center of the machining table;
the three driving branches are centrally and symmetrically distributed on the inner side of the outer frame, and the central lines projected along the bottom surface direction of the three driving branches mutually form an angle of 120 degrees; the rotation axes of the first rotation pair, the second rotation pair and the third rotation pair are mutually orthogonal; the first driving unit is arranged at one side close to the processing table, and the second driving unit is arranged at one side far away from the processing table; the length of the second connecting rod is greater than that of the first connecting rod.
The first driving unit and the second driving unit are in linear driving forms and respectively comprise a motor-reducer I, a motor-reducer II, a linear guide rail, a screw rod I, a screw rod II, a slide block I and a slide block II; one end of a first sliding block on the first driving unit and one end of a second sliding block on the second driving unit are hinged with a first screw rod and a second screw rod on the corresponding driving unit through a first moving pair and a second moving pair respectively; the first sliding block and the second sliding block are parallel to the linear guide rail of the corresponding driving unit; the center lines of the first driving unit and the second driving unit are collinear.
The motor-reducer I and the motor-reducer II control the screw rod I and the screw rod II to rotate through rotary driving, and linear movement of the slide block I and the slide block II on the axis of the screw rod is realized; and the first connecting rod and the second connecting rod drive the processing table to move.
The second driving unit is in a turntable driving mode and comprises a second motor-reducer, a second base and a second turntable; the motor-reducer II is arranged on one side of the base II, and drives the turntable II to rotate around the axial direction of the motor through a sixth revolute pair, so that the machining table is driven to move through the connecting rod II; a pair of trunnions is arranged on two sides of the edge of the second rotary table; the axial directions of the motors of the first driving unit and the second driving unit are mutually vertical, and the central line of the first lead screw of the first driving unit is positioned on the radial central plane of the second rotary table.
The first driving unit is in a turntable driving mode and comprises a motor-reducer I, a base I and a turntable I; the first motor-reducer is arranged on one side of the first base, and drives the first rotating disc to rotate around the axial direction of the motor through the seventh rotating pair, so that the connecting rod drives the machining table to move; a pair of trunnions is arranged on two sides of one edge of the rotary table; the axial directions of the motors of the first driving unit and the second driving unit are mutually vertical, and the central line of the lead screw II of the second driving unit is positioned on the radial central plane of the first rotating disc.
The first driving unit and the second driving unit are in a turntable driving mode and comprise a motor-reducer I, a motor-reducer II, a base I, a base II, a turntable I and a turntable II; each motor-reducer module is arranged on one side of the corresponding base and drives the rotary table to rotate around the axial direction of the motor through a sixth rotating pair and a seventh rotating pair respectively; a pair of trunnions is arranged on each of the two sides of the edge of each turntable; the axial directions of the motors of the first driving unit and the second driving unit are parallel to each other, and the radial central planes of the turntables are overlapped with each other.
The motor drive may be replaced by a hydraulic drive.
The angle change range of the first connecting rod and the second connecting rod is 5-45 degrees.
In actual operation, at least one of the first drive unit and the second drive unit drives the corresponding connecting rod to move.
The first driving unit and the second driving unit only need one normal work to ensure the three-degree-of-freedom output of the processing table, and the two units can be driven in a redundant manner when working normally.
Compared with the prior art, the utility model the advantage as follows:
(1) the utility model can improve the load condition of the driver through the structure form of the redundant drive, has strong bearing capacity and avoids the overload problem of the driver when processing complex large-scale workpieces;
(2) the utility model adopts six driving inputs to realize two-rotation one-movement three-dimensional output, realizes that the same movement has more driving input modes, avoids instant singularity existing in a single-branch single-driving mode, and can improve the adaptability of the mechanism to complex environment;
(3) the utility model adopts the redundant arrangement form of the driving units of different types, and can improve the flexibility of the operation of the processing table by changing the combination form of the types of the driving units;
(4) the utility model discloses a central symmetry's redundant drive structural style compares in the redundant drive form of conventional non-integral symmetry, under hoist mechanism global rigidity's prerequisite, can effectively reduce the control degree of difficulty.
Drawings
Fig. 1 is a schematic view of the internal structure of embodiment 1 of the present invention;
fig. 2 is a schematic view of a single-branch structure in embodiment 1 of the present invention;
fig. 3 is a schematic view of the overall structure of embodiment 1 of the present invention;
fig. 4 is a schematic view of a single-branch structure in embodiment 2 of the present invention;
fig. 5 is a schematic view of the overall structure of embodiment 2 of the present invention;
fig. 6 is a schematic view of a single-branch structure according to embodiment 3 of the present invention;
fig. 7 is a schematic view of the overall structure of embodiment 3 of the present invention;
fig. 8 is a schematic view of a single-branch structure according to embodiment 4 of the present invention;
fig. 9 is a schematic view of the overall structure of embodiment 4 of the present invention.
Detailed Description
The following describes in further detail embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, each driving branch comprises a first driving unit and a second driving unit, both driving units are linear driving units, one end of each sliding block on each driving unit is hinged with a corresponding screw rod through a sliding pair, the other end of each sliding block is hinged with a connecting rod through a rotating pair, the other end of each connecting rod is hinged with the same cross shaft, meanwhile, the cross shaft is hinged with a processing platform through three orthogonal rotating pairs, an electric spindle is arranged on the processing platform, and a corresponding cutter can be configured on the electric spindle according to processing requirements, so that a processing function of two-rotation one-movement direction in a double-linear driving mode is realized.
As shown in fig. 4, 5, 6 and 7, each driving branch comprises a first driving unit and a second driving unit, which are respectively a linear driving unit and a rotary driving unit. One end of a sliding block on the linear driving unit is hinged with the screw rod through a moving pair, and the other end of the sliding block is hinged with the connecting rod through a rotating pair; the center of a turntable of the rotation driving unit is a through hole and is hinged with the rotation driving main shaft through a rotation pair, and the edge of the turntable is provided with a trunnion and is hinged with a connecting rod through the rotation pair; the other end of each connecting rod is hinged with the same cross shaft, the cross shaft is hinged with the processing platform through three orthogonal rotating pairs, the processing platform is provided with an electric spindle, and a corresponding cutter can be configured on the electric spindle according to the processing requirement, so that the processing function of two rotation and one movement direction under the composite driving mode of linear driving and rotary driving is realized.
As shown in fig. 8 and 9, each driving branch comprises a first driving unit and a second driving unit, both driving units are rotation driving units, the center of the turntable of each driving unit is a through hole and is hinged with the rotation driving spindle through a revolute pair, and the edge of each driving unit is provided with a trunnion and is hinged with a connecting rod through a revolute pair; the other end of each connecting rod is hinged with the same cross shaft, the cross shaft is hinged with the processing platform through three orthogonal rotating pairs, the processing platform is provided with an electric spindle, and a corresponding cutter can be configured on the electric spindle according to the processing requirement, so that the processing function of two rotation directions and one movement direction under the double-rotation driving mode is realized.
Example 1
As shown in fig. 1, 2 and 3, the present embodiment is composed of three identical driving branches, an outer frame 15 and a processing table 2, each driving branch is installed on the inner side surface of the outer frame 15 in a central symmetrical manner, and each driving branch comprises a first driving unit 9 and a second driving unit 12; wherein, each driving unit drives a first lead screw 10 and a second lead screw 13 through a first motor-reducer 11 and a second motor-reducer 14, one end of a first slide block 6 on the first driving unit 9 and one end of a second slide block 8 on the second driving unit 12 respectively pass through a first moving pair P1And a second sliding pair P2Is hinged with a first lead screw 10 and a second lead screw 13 on the corresponding driving unit, and the other ends of the lead screws are respectively connected with a fourth revolute pair R4And a fifth revolute pair R5The other ends of the first connecting rod 5 and the second connecting rod 7 are hinged with each other through a third revolute pair R3Hinged with the cross shaft 4, the cross shaft 4 passes through the second revolute pair R at the same time2Hinged with the side through hole of the hinged support 3, the through hole at the bottom side of the hinged support 3 is connected with the processing platform 2 through a first revolute pair R1The electric main shaft 1 is arranged on the processing platform 2, and a corresponding cutter can be configured on the electric main shaft 1 according to the processing requirement.
Example 2
As shown in fig. 4 and 5, the present embodiment is composed of three identical drive branches, an outer frame 15 and a processing table 2, each drive branch being installed on the inner side surface of the outer frame 15 in a centrosymmetric manner, each drive branch including a first drive unit 9 and a second drive unit 12; wherein, the first driving unit 9 drives the first screw rod 10 through the first motor-reducer 11, and one end of the first slide block 6 on the first driving unit 9 passes through the first moving pair P1Is hinged with the first lead screw 10, and the other end of the first lead screw passes through a fourth revolute pair R4Hinged with the first connecting rod 5, the second driving unit 12 is driven by a second motor-reducer 14 through a sixth revolute pair R6A second rotary table 17 is driven, and a pair of trunnions is arranged at two sides of the edge of the second rotary table 17 and passes through a fifth revolute pair R5Hinged to the second link 7, the first link 5 and the second link 7The ends of the first and second rotary shafts are all connected through a third revolute pair R3Hinged with the cross shaft 4, the cross shaft 4 passes through the second revolute pair R at the same time2Hinged with the side through hole of the hinged support 3, the through hole at the bottom side of the hinged support 3 is connected with the processing platform 2 through a first revolute pair R1The electric main shaft 1 is arranged on the processing platform 2, and a corresponding cutter can be configured on the electric main shaft 1 according to the processing requirement.
Example 3
As shown in fig. 6 and 7, the present embodiment is composed of three identical drive branches, an outer frame 15 and a processing table 2, each drive branch being installed on the inner side surface of the outer frame 15 in a centrosymmetric manner, each drive branch including a first drive unit 9 and a second drive unit 12; wherein the first drive unit 9 is driven by a first motor-reducer 11 through a seventh revolute pair R7A first rotating disk 19 is driven, and a pair of trunnions is arranged at two sides of the edge of the first rotating disk 19 and passes through a fourth revolute pair R4The second driving unit 12 drives a second lead screw 13 through a second motor-reducer 14, and one end of a second sliding block 8 on the second driving unit 12 passes through a second sliding pair P2Hinged with the second lead screw 13, and the other end of the second lead screw passes through a fifth revolute pair R5The other ends of the first connecting rod 5 and the second connecting rod 7 are hinged with the second connecting rod 7 through a third revolute pair R3Hinged with the cross shaft 4, the cross shaft 4 passes through the second revolute pair R at the same time2Hinged with the side through hole of the hinged support 3, the through hole at the bottom side of the hinged support 3 is connected with the processing platform 2 through a first revolute pair R1The electric main shaft 1 is arranged on the processing platform 2, and a corresponding cutter can be configured on the electric main shaft 1 according to the processing requirement.
Example 4
As shown in fig. 8 and 9, the present embodiment is composed of three identical drive branches, an outer frame 15 and a processing table 2, each drive branch being installed on the inner side surface of the outer frame 15 in a centrosymmetric manner, each drive branch including a first drive unit 9 and a second drive unit 12; wherein, each driving unit is respectively provided with a first motor-reducer 11 and a second motor-reducer 14 through a seventh revolute pair R7And a sixth revolute pair R6Driving the first rotary table 19 and the second rotary table 17, wherein a pair of trunnions are arranged on two sides of the edge of each rotary table and respectively rotate through the fourth rotationSub R4And a fifth revolute pair R5The other ends of the first connecting rod 5 and the second connecting rod 7 are hinged with each other through a third revolute pair R3Hinged with the cross shaft 4, the cross shaft 4 passes through the second revolute pair R at the same time2Hinged with the side through hole of the hinged support 3, the through hole at the bottom side of the hinged support 3 is connected with the processing platform 2 through a first revolute pair R1The electric main shaft 1 is arranged on the processing platform 2, and corresponding cutters can be configured on the electric main shaft 1 according to processing requirements.
In conclusion, utilize the utility model discloses can realize two under the redundant drive form of symmetry and rotate a direction of movement's processing function.
Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
The present invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification, and to any novel method or process steps or any novel combination of features disclosed.
The details of the present invention not described in detail in the specification are well known to those skilled in the art.
Claims (10)
1. The three-branch three-degree-of-freedom redundant drive type parallel machining head is characterized by comprising an electric spindle (1), a machining table (2) and three same drive branches, wherein each drive branch comprises a first drive unit (9), a second drive unit (12), a first connecting rod (5) and a second connecting rod (7), and one ends of the first connecting rod (5) and the second connecting rod (7) are connected through a fourth revolute pair (R)4) And a fifth revolute pair (R)5) Is hinged with the first driving unit (9) and the second driving unit (12), and the other ends of the first connecting rod (5) and the second connecting rod (7) are respectively connected with the third revolute pair (R)3) Is hinged with the cross shaft (4), and the cross shaft (4) passes through a second revolute pair (R) simultaneously2) Hinged with the through hole on the side surface of the hinged support (3), and the bottom of the hinged support (3)The side through hole and the processing platform (2) pass through a first revolute pair (R)1) The processing table (2) is hinged with the electric spindle (1) in the center;
the three driving branches are centrally and symmetrically distributed on the inner side of the outer frame (15), and the central lines projected along the bottom surface direction form an angle of 120 degrees with each other; first rotary pair (R)1) And a second revolute pair (R)2) And a third revolute pair (R)3) Are mutually orthogonal; the first driving unit (9) is arranged at one side close to the processing table (2), and the second driving unit (12) is arranged at one side far away from the processing table (2); the length of the second connecting rod (7) is greater than that of the first connecting rod (5).
2. The three-branch three-degree-of-freedom redundant drive type parallel machining head as claimed in claim 1, wherein: the first driving unit (9) and the second driving unit (12) are in linear driving forms and respectively comprise a motor-reducer I (11), a motor-reducer II (14), a linear guide rail, a screw rod I (10), a screw rod II (13), a slide block I (6) and a slide block II (8); one end of a first sliding block (6) on the first driving unit (9) and one end of a second sliding block (8) on the second driving unit (12) respectively pass through a first moving pair (P)1) And a second sliding pair (P)2) The lead screw I (10) and the lead screw II (13) on the corresponding driving units are hinged; the first sliding block (6) and the second sliding block (8) are parallel to the linear guide rail of the corresponding driving unit; the centre lines of the first drive unit (9) and the second drive unit (12) are collinear.
3. The three-branch three-degree-of-freedom redundant drive type parallel machining head as claimed in claim 2, wherein: the motor-reducer I (11) and the motor-reducer II (14) control the screw rod I (10) and the screw rod II (13) to rotate through rotary driving, and linear movement of the slide block I (6) and the slide block II (8) on the axis of the screw rod is realized; and then the machining table (2) is driven to move through the first connecting rod (5) and the second connecting rod (7).
4. The three-branch three-degree-of-freedom redundant drive type parallel machining head as claimed in claim 1, wherein: the second drive unit (12) is in the form of a rotary disc drive,the device comprises a motor-reducer II (14), a base II (16) and a turntable II (17); the second motor-reducer (14) is arranged on one side of the second base (16) and passes through a sixth revolute pair (R)6) The second driving turntable (17) rotates around the axial direction of the motor, and then the second connecting rod (7) drives the processing table (2) to move; a pair of trunnions is arranged on two sides of the edge of the second rotary table (17); the axial directions of the motors of the first driving unit (9) and the second driving unit (12) are perpendicular to each other, and the central line of a first lead screw (10) of the first driving unit (9) is on the radial central plane of a second rotating disc (17).
5. The three-branch three-degree-of-freedom redundant drive type parallel machining head as claimed in claim 1, wherein: the first driving unit (9) is in a turntable driving mode and comprises a motor-reducer I (11), a base I (18) and a turntable I (19); the motor-reducer I (11) is arranged on one side of the base I (18) and passes through a seventh revolute pair (R)7) The first driving turntable (19) rotates around the axial direction of the motor, and then the first connecting rod (5) drives the processing table (2) to move; a pair of trunnions is arranged on two sides of the edge of the first rotating disc (19); the axial directions of the motors of the first driving unit (9) and the second driving unit (12) are mutually vertical, and the central line of a second lead screw (13) of the second driving unit (12) is on the radial central plane of the first rotating disc (19).
6. The three-branch three-degree-of-freedom redundant drive type parallel machining head as claimed in claim 1, wherein: the first driving unit (9) and the second driving unit (12) are in a turntable driving mode and comprise a first motor-reducer (11), a second motor-reducer (14), a first base (18), a second base (16), a first turntable (19) and a second turntable (17); each motor-reducer module is arranged on one side of the corresponding base and passes through a sixth revolute pair (R)6) And a seventh revolute pair (R)7) The driving rotating disc rotates around the axial direction of the motor; a pair of trunnions is arranged on each of the two sides of the edge of each turntable; the axial directions of the motors of the first driving unit (9) and the second driving unit (12) are mutually parallel, and the radial central planes of the turntables are mutually overlapped.
7. A three-branch three-degree-of-freedom redundant-drive parallel machining head as claimed in any one of claims 2 to 5, wherein: the motor drive may be replaced by a hydraulic drive.
8. A three-branch three-degree-of-freedom redundant-drive parallel machining head as claimed in any one of claims 1-6, wherein: the angle change range of the first connecting rod (5) and the second connecting rod (7) is 5-45 degrees.
9. A three-branch three-degree-of-freedom redundant-drive parallel machining head as claimed in any one of claims 1-6, wherein: in practice, at least one of the first drive unit (9) and the second drive unit (12) drives the respective linkage in motion.
10. The three-branch three-degree-of-freedom redundant-drive parallel machining head as claimed in claim 9, wherein: the first driving unit (9) and the second driving unit (12) can ensure three-degree-of-freedom output of the processing table only through one normal work, and the two units can be driven in a redundant mode through normal work.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303476A (en) * | 2019-06-28 | 2019-10-08 | 中国航天空气动力技术研究院 | A kind of three branch's three freedom redundancy drive-type parallel connection processing heads |
| CN111694271A (en) * | 2020-07-15 | 2020-09-22 | 中国核动力研究设计院 | Redundancy fault-tolerant control system and method based on distributed control system |
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2019
- 2019-06-28 CN CN201920995059.7U patent/CN210998684U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303476A (en) * | 2019-06-28 | 2019-10-08 | 中国航天空气动力技术研究院 | A kind of three branch's three freedom redundancy drive-type parallel connection processing heads |
| CN111694271A (en) * | 2020-07-15 | 2020-09-22 | 中国核动力研究设计院 | Redundancy fault-tolerant control system and method based on distributed control system |
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