CN212217783U - Vertical series-parallel carving machine - Google Patents
Vertical series-parallel carving machine Download PDFInfo
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- CN212217783U CN212217783U CN202020734339.5U CN202020734339U CN212217783U CN 212217783 U CN212217783 U CN 212217783U CN 202020734339 U CN202020734339 U CN 202020734339U CN 212217783 U CN212217783 U CN 212217783U
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Abstract
The utility model relates to a vertical series-parallel carving machine, which comprises a parallel mechanism, a fixed frame, a movable base and a two-degree-of-freedom processing table; the parallel mechanism comprises a first branch component, a second branch component, a third branch component, a movable support table, a main shaft fixing seat and a carving main shaft; a fixed frame is arranged on the movable base; the fixed frame is provided with a parallel mechanism and a two-degree-of-freedom processing table arranged on a lower bottom plate of the fixed frame; the two-degree-of-freedom machining table comprises a linear sliding table and a swinging mechanism arranged on the linear sliding table; the series-parallel carving machine can realize five-axis linkage and has the capability of five-axis machining; and the structure is simple, the modularization degree is high, the working space is large, and the application potential is large in the field of engraving machines.
Description
The technical field is as follows:
the utility model relates to an engraver field, especially can realize five-axis machining's engraver and working method thereof.
Background art:
the early traditional three-axis engraving machine has high flexibility and large working space, but adopts a series structure, and has large transmission system, accumulated error and large volume; especially, only one engraving station is provided, and multi-surface processing cannot be realized, so that the direction of the engraving machine needs to be changed manually, and the phenomena of error accumulation, time waste, processing efficiency reduction and the like occur in the process of dismounting.
For the carving piece with a large curved surface, the traditional three-axis carving machine cannot complete the task; in order to solve the problem of multi-surface processing, five-axis engraving machines are developed in recent years, the five-axis engraving machines mostly adopt a serial mechanism to match with a 2 or 3-degree-of-freedom turntable, and the five-axis engraving machines can realize three-coordinate translation and A/B axis rotation, or A/C axis rotation, or B/C axis rotation and other forms of the worktable; however, the series-connected carving machines are in an open chain structure, and the problems of large part structure, large motion inertia, low speed and accumulated error are necessarily caused.
Therefore, it is a development power to explore a new type of engraving machine to achieve high precision, multi-surface processing, and reduction of accumulated errors. In recent years, with the development of parallel mechanisms and parallel machines, research on such mechanisms has been conducted in both the engraving field and the machining and manufacturing field, and unlike the serial mechanism, the parallel mechanism has been favored as new machining equipment due to its characteristics such as low cumulative error, high rigidity, high speed, high flexibility, and simple structure.
In order to adapt to the processing characteristics in the engraving field, engravers with a parallel-serial structure are also being researched and developed, and in the application of numerical control machines, the parallel-serial numerical control machines are already applied to processing large-scale aviation structural members in the aircraft manufacturing field. Among them, a hybrid machine tool represented by a Tricept hybrid machining center, an Exechon hybrid machining center, a Z3 hybrid machining center, or the like is used for machining high-precision parts.
However, in the field of engraving machines, five-axis engraving machines adopting parallel mechanism series-parallel connection serial mechanisms are few, and particularly, how to select a proper parallel mechanism series-parallel connection serial mechanism to realize five-axis machining and maintain high rigidity, large working space and low accumulated error is a problem to be solved at present.
The invention content is as follows:
in view of the defects of the prior art, the utility model provides a vertical series-parallel engraving machine for solving the recognized technical problems, so as to realize the processing of curved surfaces; the engraving machine not only improves the rigidity and increases the working space, but also can reduce the error accumulation of the traditional five-axis engraving machine, and can be used for processing complex engraving pieces.
In order to realize the purpose, the utility model discloses a technical scheme is: a vertical series-parallel carving machine comprises a parallel mechanism, a fixed frame, a movable base and a two-degree-of-freedom processing table; the parallel mechanism comprises a first branch component, a second branch component, a third branch component, a movable support platform and a carving main shaft, and a fixed frame is arranged on the movable base; the fixed frame is provided with a parallel mechanism, and a two-degree-of-freedom processing table is arranged on the lower bottom plate of the fixed frame; the two-degree-of-freedom machining table comprises a linear sliding table and a swing mechanism arranged on the linear sliding table.
Furthermore, first branch subassembly and second branch subassembly have the same structural style, all include linear drive subassembly, hooke's hinge, revolute pair subassembly, the hooke's hinge includes hooke hinge support seat, hooke hinge supporting axle, hooke hinge frame, hooke hinge shaft cover, linear drive subassembly upper portion is connected with fixed frame through the hooke hinge, and linear drive subassembly lower part is connected with moving the supporting bench through revolute pair subassembly, the revolute pair subassembly includes branch revolves head, branch and rotates crossbearer and rotation pin axle. The linear driving assembly is internally provided with a branch assembly plate, an assembly screw rod is arranged on the branch assembly plate, a nut fixing seat is arranged on the assembly screw rod and connected with an assembly sliding block, two sliding rails are arranged on the branch assembly plate, and an assembly motor fixing seat is arranged at the head of the grouping assembly plate and connected with an assembly servo motor.
Further, the third branch assembly comprises a linear driving assembly, a rotating frame and a composite hinge; the linear driving assembly is connected with the fixed rack through a rotating frame, and the lower part of the revolute pair assembly is connected with the movable supporting table through a composite hinge; the composite hinge comprises a third branch head, a composite connecting frame, a composite movable transverse frame and a pin shaft.
Furthermore, a through hole is formed in the center of the movable support platform, the carving main shaft is fixedly arranged in the through hole, and a main shaft fixing seat is arranged below the center of the movable support platform; threaded holes are formed in the peripheral side face of the movable supporting platform and connected with the revolute pair assembly and the composite hinge, and then the first branch assembly, the second branch assembly and the third branch assembly are connected to form a space closed-loop mechanism.
Furthermore, the two-degree-of-freedom machining table comprises a linear sliding table and a swinging mechanism arranged on the linear sliding table; the linear sliding table comprises a sliding plate, a sliding block, a guide rail, a motor base, a servo motor, a movable carrying platform, a sliding table screw rod, a nut fixing base and a bearing base; the sliding plate is provided with a guide rail, the sliding plate is arranged on the guide rail in a sliding manner, the sliding block is connected with a fixed seat, a sliding table lead screw penetrates through the fixed seat, and the fixed seat is connected with a movable carrying platform; the tail part of the sliding plate is provided with a motor base, the motor base is connected with a servo motor, and a lead screw penetrates through a shaft seat and is installed on the sliding plate; the movable carrying platform is provided with a swinging mechanism.
Further, the swing mechanism comprises a swing bottom plate, a support adjusting block, a left supporting seat, a right supporting seat, a rotating plate, a planetary reducer, a servo motor, a rotating base plate and a machining workbench; the swing bottom plate is connected with a support adjusting block, a left support seat and a right support seat are arranged on the support adjusting block, a rotating plate is connected on the support seats, and the rotating base plate is arranged on the left rotating plate and the right rotating plate; a processing workbench is arranged on the rotating base plate; the processing workbench is used for clamping the carving piece.
Compared with the prior art, the utility model has the advantages of it is following: (1) compared with the traditional five-axis engraving machine, the five-axis engraving machine has the advantages of simple structure, high modularization degree, working spaces with the same size, and relatively small mechanism volume; (2) the parallel mechanism and the series mechanism are in series-parallel connection, so that error accumulation caused by the series mechanism is reduced; (3) the parallel mechanism has simple assembly relation of all movement axes, and the processing and manufacturing process of all parts is easy; (4) the five-axis engraving machine has the same complex curved surface processing capacity as the traditional five-axis engraving machine, and does not need to manually install and disassemble engraving pieces; (5) the parallel mechanism is matched with the two-degree-of-freedom processing table to realize five-axis carving and independent movement, so that interference in the carving process is avoided; therefore, the method is suitable for processing complex curved surfaces in the field of engraving, manufacturing industry and the like, and has a wide application prospect.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Description of the drawings:
fig. 1 is a schematic overall structure diagram of a series-parallel engraver provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a parallel mechanism in a series-parallel engraver provided in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a first branch assembly and a second branch assembly of a parallel mechanism according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a third branch assembly of the parallel mechanism according to the embodiment of the present invention;
fig. 5 is a schematic structural view of a two-degree-of-freedom processing table in a series-parallel engraving machine according to an embodiment of the present invention;
fig. 6 is a schematic cross-sectional view of a two-degree-of-freedom processing table in a series-parallel engraving machine according to an embodiment of the present invention;
in the figure: 1: a first branch assembly; 2: a second branch assembly; 3: a third branch assembly; 4: engraving a main shaft; 5, moving the support table; 6: a main shaft fixing seat; 7: a fortune wheel; 8: moving the base; 9: a linear sliding table; 10: a rocking mechanism; 11: fixing the frame; 12: a two-degree-of-freedom processing table; 13: hooke's joint; 14: a rotating frame; 15: a compound hinge; 16: a revolute pair assembly; 17: linear drive assembly 101: a servo motor; 102: a branch assembly plate; 103: an assembly lead screw; 104: a hook hinge support base; 105: a hook hinge support shaft; 106 branch rotating heads; 107; a motor fixing seat; 108; a slide rail; 109: a hook hinge shaft cover; 110: a nut fixing seat; 111: a bearing seat; 112: rotating the pin shaft; 113 branch rotating cross frame; 301: a servo motor; 302: a rotating shaft cover; 303: a third branch head; 304: compounding and connecting the frame; 305: a composite movable transverse frame; 901: a sliding table lead screw; 902: a left support seat; 903: a rotating plate; 904: a slider; 905: a machining workbench; 906: a right support seat; 907: a servo motor; 908: a planetary reducer; 909: moving the carrier; 910: a slide plate; 911: a servo motor; 912: a motor fixing seat; 913: a left support shaft; 914: a nut fixing seat; 915: rotating the substrate; 916: a right support shaft; 917: supporting the adjusting block; 918: a right support seat end cover; 919: and swinging the bottom plate.
The specific implementation mode is as follows:
the following describes embodiments of the present invention with reference to the drawings and examples.
The embodiments of the present invention will be described below, wherein the embodiments described by the drawings are exemplary and are only used for explaining the present invention, and do not limit the present invention.
In the embodiment of the present invention, as shown in fig. 1, a vertical series-parallel engraver includes a parallel mechanism, a fixed frame 11, a movable base 8, and a two-degree-of-freedom processing table 9; the parallel mechanism comprises a first branch component 1, a second branch component 2, a third branch component 3, a movable supporting table 5, a spindle fixing seat 6 and an engraving spindle 4.
The first grouping component 1 and the second branch component 2 have the same structure, the first grouping component 1 is connected with the fixed frame 11 through a Hooke hinge 13, and is hinged with the movable support table 5 through a revolute pair component 16; the second branch subassembly is the same, and third branch subassembly 3 is connected with fixed frame 11 through rotating turret 14, and is articulated with movable supporting bench 5 through compound hinge 15, and movable supporting bench 5 will carve main shaft 4 and fix on it through main shaft fixing base 6, forms parallel mechanism up to this point.
The parallel mechanism is fixedly connected to a fixed frame 11, a two-degree-of-freedom machining table 12 is arranged below the fixed frame 11, the two-degree-of-freedom machining table 12 comprises a linear sliding table 9 and a swinging mechanism 10 installed on the linear sliding table 9, the fixed frame 11 is installed on a movable base 8, a horsewheel 7 is installed below the movable base 8, and front-back, left-right and plane movement can be achieved.
In the embodiment of the present invention, as shown in fig. 3, the first sub-assembly 1 includes a linear driving assembly 17, a hooke joint 13, and a revolute pair assembly 16; the upper part of a branch component plate 102 in a linear driving component is provided with a servo motor 101, the servo motor 101 is connected with a motor fixing seat 107, the motor fixing seat is connected with a component screw rod 103, the component screw rod 103 passes through a nut fixing seat 110, two ends of the nut fixing seat 110 are hinged on a Hooke hinge 13, the Hooke hinge can rotate around a Hooke hinge shaft cover 109, the Hooke hinge 13 can also rotate around a Hooke hinge support shaft 105, the Hooke hinge support shaft is arranged on a Hooke hinge support seat 104, the Hooke hinge support seat 104 is arranged on a fixed frame 11, under the rotation of the servo motor 101, the branch component plate 102, a branch rotating head 106 and the like of the linear driving component are driven to move along the axial direction of the component screw rod 103, in addition, the lower part of the linear driving component 17 is connected with a rotating pair component 16, the rotating pair component 16 is connected with the linear driving component 17 through the branch rotating head 106, the rotating pair component is connected with a branch rotating cross frame 113 through a, the branch turning cross 113 is connected to the movable support table 5.
In the embodiment of the present invention, as shown in fig. 4, the third sub-assembly 3 includes a linear driving assembly 17 (the linear driving assembly of the third sub-assembly 3 has the same structure as the linear driving assembly 17 of the first and second sub-assemblies), a rotating frame 14, and a compound hinge 15; the nut fixing seat 110 of the linear driving assembly 17 is connected to the fixed frame 11 through the rotating frame 14 (the rotating frame 14 is in a groove shape, two side parts of the nut fixing seat 110 are hinged to the inner wall of the groove, the rotating frame 14 is fixed on the fixed frame 11), the rotating frame 14 can rotate around the axis of the rotating shaft cover, the lower part of the linear driving assembly 17 is connected to the movable supporting table 5 through the composite hinge 15, the composite hinge 15 is connected with the linear driving assembly 17 through the third branch head 303, the composite hinge 15 is connected with the composite movable cross frame 305 through the composite connecting frame 304 in a hinged mode, and the composite movable cross frame 305 is connected to the movable supporting table 5.
The above-mentioned branch subassembly board 102 is equipped with the slide rail, is equipped with the spacing slider that slides with the slide rail cooperation on nut fixing base 110, and the both sides portion of nut fixing base 110 articulates on the inslot wall to under the rotation of subassembly lead screw 103, branch subassembly board 102, servo motor 101, branch rotate head 106 (or third branch head 303) be relative nut fixing base 110 axial displacement promptly, the both ends of subassembly lead screw 103 articulate in the block at branch subassembly board 102 both ends.
In the embodiment of the present invention, as shown in fig. 2, two side surfaces of the movable supporting platform 5 are symmetrically connected to the first branch component 1 and the second branch component 2, and the other side surface is connected to the third branch component 3, a main shaft fixing seat 6 is installed below the center of the shaft hole of the movable supporting platform 5, a carving main shaft 4 is installed on the main shaft fixing seat 6, and under the combined action of the three branch components, the carving main shaft 4 on the movable supporting platform 5 can realize vertical movement in the Z-axis direction; when the component screw rods of the first branch component 1 and the second branch component 2 rotate oppositely, the rotation of the engraving main shaft 4 around the X axis can be realized, and when the first branch component 1 and the second branch component 2 stop moving, the screw rod of the third branch component 3 can drive the engraving main shaft 4 to generate linkage movement in the X axis direction, namely drive the engraving main shaft 4 to move along the X axis, and meanwhile, the engraving main shaft can rotate relative to the Hooke hinge support shaft 105 (equivalent to the Y axis).
In the embodiment of the present invention, as shown in fig. 5, the two-degree-of-freedom processing table 12 includes a swing mechanism 10 and a linear sliding table 9, the linear sliding table includes a sliding plate 910, a motor fixing seat 912, a servo motor 911, a sliding table lead screw 901, a nut fixing seat 914, a slider 904, and a movable carrier 909, the sliding plate 910 in the linear sliding table 9 is connected to the motor fixing seat 912, the servo motor 911 is fixed to the motor fixing seat 912, the sliding table lead screw 901 connected to the shaft hole of the motor fixing seat 912 is driven by the servo motor 911 to drive the nut fixing seat 914 thereon to move, the movable carrier 909 is fixed to the nut fixing seat 914 and the slider 904, the swing mechanism 10 is connected to the movable carrier, the slider moves on the sliding rail of the linear sliding table 9, and the swing mechanism 10 on the movable carrier 909 moves in the.
In the embodiment of the present invention, as shown in fig. 5-6, the swing mechanism 10 includes a swing bottom plate 919, a supporting adjustment block 917, a left support seat, a right support seat, a servo motor 907, a planetary reducer 908, a rotating plate 903, a rotating base plate 915, and a processing platform 905; the servo motor 907 in the swing mechanism 10 is connected to the planetary reducer 908, the planetary reducer 908 is mounted on the right support base 906, the left support base and the right support base are arranged on the support adjusting block 917, the support adjusting block 917 is fixed on the swing bottom plate 919, the rotation of the servo motor 907 drives the left support shaft 913 and the right support shaft 916 to rotate through the planetary reducer 908, the left support shaft 913 and the right support shaft 916 are fixedly connected with the rotating plate 903, the rotating plate 903 is driven to rotate, the rotating plate 903 rotates to drive the rotating base plate 915 connected to the rotating plate to rotate, and the machining workbench 915 is arranged on the rotating base plate 915, so that the machining workbench 915 on the swing mechanism rotates around the right support shaft, namely the rotation around the Y axis is achieved, and the swing mechanism rotates around the Y axis and moves along the Y axis.
Finally, the vertical series-parallel carving machine can realize the 5-axis processing capacity under the combined cooperation of the parallel mechanism and the two-degree-of-freedom processing table, so that the vertical series-parallel carving machine has a wide application prospect in the field of carving.
The present invention is not limited to the above preferred embodiments, and any vertical series-parallel engravers with various other forms can be obtained by the teaching of the present invention. All the equivalent changes and modifications made according to the claims of the present invention shall fall within the scope of the present invention.
Claims (8)
1. The utility model provides a vertical series-parallel engraver which characterized in that: comprises a parallel mechanism, a fixed frame (11), a movable base (8) and a two-degree-of-freedom processing table (12); the parallel mechanism comprises a first branch component (1), a second branch component (2), a third branch component (3), a movable support table (5), a main shaft fixing seat (6) and a carving main shaft (4); a fixed frame (11) is arranged on the movable base (8); the fixed frame (11) is provided with a parallel mechanism and a two-degree-of-freedom processing table (12) arranged on a lower bottom plate of the fixed frame; the two-degree-of-freedom machining table comprises a linear sliding table (9) and a swinging mechanism (10) arranged on the linear sliding table.
2. The vertical series-parallel engraver of claim 1, wherein: the first branch assembly (1) and the second branch assembly (2) have the same structure and respectively comprise a linear driving assembly (17), a Hooke joint (13) and a revolute pair assembly (16); the Hooke hinge (13) comprises a Hooke hinge support seat (104), a Hooke hinge support shaft (105), a Hooke hinge frame and a Hooke hinge shaft cover (109), the upper part of the linear driving component (17) is connected with the fixed rack (11) through the Hooke hinge (13), the lower part of the linear driving component (17) is connected with the movable support platform (5) through a revolute pair component (16), the revolute pair component (16) comprises a branch revolute head (106), a branch revolute cross frame (113) and a revolute pin shaft (112) for hinging the branch revolute head (106) and the branch revolute cross frame (113), a branch component plate (102) is arranged in the linear driving component (17), a component lead screw (103) is arranged on the component lead screw (103), a first nut fixing seat (110) is arranged on the component lead screw (103), the first nut fixing seat (110) is connected with a component sliding block, and two sliding rails are arranged on the branch component plate (102), the head of the branch component board (102) is provided with a component motor fixing seat (107) and a component servo motor (101) connected with the component motor fixing seat.
3. The vertical series-parallel engraver of claim 2, wherein: the third branch component comprises a linear driving component (17), a rotating frame (14) and a composite hinge (15); the linear driving assembly (17) is connected with the fixed rack (11) through a rotating frame (14), and the lower part of the revolute pair assembly (16) is connected with the movable support platform (5) through a composite hinge (15); the composite hinge comprises a third branch head (303), a composite connecting frame (304), a composite movable transverse frame (305) and a pin shaft for hinging the composite connecting frame (304) and the composite movable transverse frame (305).
4. The vertical series-parallel engraver of claim 3, wherein: the center of the movable support table is provided with a through hole and a main shaft fixing seat (6) arranged in the through hole, and the carving main shaft (4) is fixedly arranged in the main shaft fixing seat; the side surfaces of the periphery of the movable support platform are connected with a revolute pair assembly (16) and a composite hinge (15); and then the first branch component, the second branch component and the third branch component are connected to form a space closed-loop mechanism.
5. The vertical series-parallel engraver of claim 1, wherein: the linear sliding table comprises a sliding plate (910), a sliding block (904), a guide rail, a motor base (912), a first servo motor (911), a movable carrying table (909), a sliding table lead screw (901), a second nut fixing base (914) and a bearing base; the sliding plate (910) is provided with a guide rail, the sliding block (904) is slidably mounted on the guide rail, the sliding block is connected with a second nut fixing seat (914), the sliding table lead screw (901) penetrates through the second nut fixing seat (914), and the second nut fixing seat is connected with a movable carrying platform (909); a motor base is arranged at the tail part of the sliding plate (910), the motor base is connected with a first servo motor (911), and a sliding table lead screw (901) penetrates through a bearing base to be installed on the sliding plate (910); a swing mechanism is mounted on the movable stage (909).
6. The vertical series-parallel engraver of claim 5, wherein: the swing mechanism comprises a swing bottom plate (919), a support adjusting block (917), a left supporting seat (913), a right supporting seat (906), a rotating plate (903), a planetary reducer (908), a second servo motor (907), a rotating base plate (915) and a processing workbench (905); a swinging bottom plate (919) is arranged on the movable carrying platform (909), a supporting adjusting block (917) is connected to the swinging bottom plate (919), a left supporting seat and a right supporting seat are arranged on the supporting adjusting block (917), a rotating plate (903) is connected to the left supporting seat and the right supporting seat, and a rotating base plate (915) is arranged on the rotating plate (903); a processing workbench (905) is arranged on the rotating base plate (915); the processing workbench is used for clamping the carving piece.
7. The vertical series-parallel engraver of claim 1, wherein: the lower part of the movable base is provided with a horse wheel, and the fixed frame is arranged on the movable base.
8. The vertical series-parallel engraver of claim 4, wherein: a servo motor (101) is arranged on the upper part of a branch assembly plate (102) in the linear driving assembly, the servo motor (101) is connected with a motor fixing seat (107), an assembly lead screw (103) is connected on the motor fixing seat, a first nut fixing seat (110) penetrates through the assembly lead screw (103), the first nut fixing seat (110) is connected with a hook hinge (13), the hook hinge rotates around a hook hinge shaft cover, the hook hinge (13) also rotates around a hook hinge support shaft (105), the hook hinge support shaft is arranged on a hook hinge support seat (104), and the hook hinge support seat (104) is arranged on a fixed rack (11); the lower part of the linear driving component (17) is connected with a revolute pair component (16), the revolute pair component (16) is connected with the linear driving component (17) through a branch rotating head (106), the interior of the revolute pair component is connected with a branch rotating transverse frame (113) through a rotating pin shaft (112), and the branch rotating transverse frame (113) is connected to the movable supporting platform (5).
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| CN202020734339.5U CN212217783U (en) | 2020-05-07 | 2020-05-07 | Vertical series-parallel carving machine |
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| CN202020734339.5U CN212217783U (en) | 2020-05-07 | 2020-05-07 | Vertical series-parallel carving machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113695991A (en) * | 2021-09-07 | 2021-11-26 | 成都极致智造科技有限公司 | Ion beam polishing device for optical element |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113695991A (en) * | 2021-09-07 | 2021-11-26 | 成都极致智造科技有限公司 | Ion beam polishing device for optical element |
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Effective date of registration: 20221129 Address after: Fuzhou University, No.2, wulongjiang North Avenue, Fuzhou University Town, Minhou County, Fuzhou City, Fujian Province Patentee after: FUZHOU University Patentee after: XIAMEN WINJOIN TECHNOLOGY CO.,LTD. Address before: Fuzhou University, No.2, wulongjiang North Avenue, Fuzhou University Town, Minhou County, Fuzhou City, Fujian Province Patentee before: FUZHOU University |