JP2009291877A - Parallel mechanism and machine tool having the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parallel mechanism capable of expanding the movable range of a link head by eliminating the singular point where the link head cannot be moved. <P>SOLUTION: This parallel mechanism 300 is capable of controlling the 3-degree of freedom of operation of the link head 301. The parallel mechanism comprises a head drive mechanism 302 for moving the link head 301 along an X-axis orthogonal to a Y-axis; a link mechanism 303 having a pair of links 303A, 303B one ends of which are rotatably connected to each other in a plane orthogonal to the Y-axis through a rotary joint 3030 for link connection and the other ends of which are supported rotatably about the axis parallel to the Y-axis and movably along the axis of the X-axis; and a pair of link drive mechanisms 3034, 305 for moving the other ends of the pair of links 303A, 303B along an axis parallel to the X-axis. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a parallel mechanism used as a driving force transmission mechanism when a tool (machining tool) for machining a workpiece (workpiece) is displaced, for example, and a machine tool including the parallel mechanism.

  As is well known, machine tools include a grinding machine, a lathe and a milling machine, and these various machine tools are selectively used according to the processing content.

  In such a machine tool, by moving a spindle head that supports a processing tool such as a grindstone or a cutting tool, a table that supports a workpiece, or the like to a desired position, or by rotating at a desired angle, Processing such as grinding and cutting is performed by relatively displacing the workpiece and the processing tool.

  In recent years, this type of machine tool is effective as a mechanism that achieves high rigidity, high accuracy, and high speed, and therefore, a machine having a parallel mechanism having a link in which the base to the link head are connected in parallel. For example, a machine tool (partial) as shown in FIG. 19 is known (for example, Patent Document 1).

  This machine tool will be described with reference to FIG. 19. In FIG. 19, the machine tool indicated by reference numeral 19 is a link head 19A that supports the processing tool T, and a pair of links that move and rotate the link head 19A. And a parallel mechanism 19B having 190B and 191B.

  The link head 19A is composed of a planar rectangular tool support having a reference line B along its longitudinal direction, and can be rotated and moved via a head slider 19D to a first guide 19C on a base (not shown). It is supported by.

  One link 190B is pivotally supported at one end by the link head 19A via a common pivot 19E, and the other end is linked to a second guide 19F on the base parallel to the first guide 19C and one link slider 19G. It is supported so as to be able to rotate and move through.

  One end of the other link 191B is pivotally supported by the link head 19A via a common pivot portion 19E, and the other end is connected to a third guide 19H on the base parallel to the first guide 19C and the second guide 19F. The other link slider 19I is supported so as to be rotatable and movable.

  With the above configuration, when one link 190B is moved along the second guide 19F (X-axis direction) and the other link 190C is moved along the third guide 19H (X-axis direction), the link head 19A is moved. The head slider 19D rotates about an axis (B axis) orthogonal to the X-axis direction and moves along the first guide 19C.

  On the other hand, the work support base (not shown) is moved in the axial direction (Z-axis direction) orthogonal to the first guide 19C, the second guide 19F, and the third guide 19H, and rotated around the axial line along this moving direction. When moved, the workpiece moves in the Z-axis direction and rotates around an axis along the moving direction.

As a result, the workpiece is processed in the three-axis direction (X-axis direction, Z-axis direction, and B-axis direction) with the processing tool.
Japanese Patent Laying-Open No. 2003-291041 (FIG. 2)

  However, in the machine tool shown in Patent Document 1, the movement of the link head 19A along the X-axis direction is performed by moving the pair of links 190B and 191B (link sliders 19G and 19I) in a direction parallel to the X-axis direction. Therefore, when the link head 19A is arranged at a position where the reference line B is orthogonal to the X-axis direction by turning around the B-axis, a reaction force against the acting force in the X-axis direction is generated in the link head 19A. There is a singular point where the link head 19A cannot be moved, and there is a problem that the movable range of the link head 19A is greatly limited.

  Accordingly, an object of the present invention is to provide a parallel mechanism capable of eliminating a singular point where the link head cannot be moved, and thereby expanding a movable range of the link head, and a machine tool including the parallel mechanism. .

(1) In order to achieve the above object, the present invention rotates a work tool for machining a workpiece and a link head supporting one of the workpieces about a first axis, and the first axis and A parallel mechanism capable of controlling movement of at least two degrees of freedom of the link head by moving in an orthogonal plane for moving the link head along a second axis perpendicular to the first axis. And one end of the head driving mechanism is connected to the link head via a link rotating unit so as to be rotatable in a plane perpendicular to the first axis, and the other end is rotated around an axis parallel to the first axis. A link mechanism comprising a pair of links supported so as to be rotatable in a plane orthogonal to the first axis, and the other end of the pair of links in a plane orthogonal to the first axis Providing a parallel mechanism, characterized in that it includes a pair of link drive mechanism for moving respectively.

(2) In order to achieve the above object, the present invention rotates a work tool for machining a workpiece and a link head supporting one of the workpieces around a first axis, and the first axis and A machine tool comprising a parallel mechanism capable of controlling movement of at least two degrees of freedom of the link head by moving in an orthogonal plane, and a bed for supporting the other of the processing tool and the workpiece. The parallel mechanism includes a head drive mechanism for moving the link head along a second axis orthogonal to the first axis, and one end of the link mechanism connected to the first axis via a link rotation unit. The other ends are connected to each other in a plane orthogonal to each other, and the other end is rotatable about an axis parallel to the first axis and moved in a plane orthogonal to the first axis. And a pair of link drive mechanisms for moving the other ends of the pair of links in a plane perpendicular to the first axis. A machine tool characterized by the above is provided.

  According to the present invention, a singular point where the link head cannot be moved can be eliminated, and the movable range of the link head can be expanded.

[First embodiment]
FIG. 1 is a plan view for explaining the entire machine tool according to the first embodiment of the present invention. FIG. 2 is a perspective view for explaining the main part of the machine tool according to the first embodiment of the present invention. FIG. 3 is a plan view for explaining the main part of the machine tool according to the first embodiment of the present invention. FIG. 4 is a block diagram for explaining the machine tool control apparatus according to the first embodiment of the present invention. In the following description, the three directions orthogonal to each other are the Z-axis direction (main axis direction in FIG. 1) and the X-axis direction (direction parallel to the paper surface in FIG. 1 and perpendicular to the Z-axis) and Y-axis direction, respectively. (A direction perpendicular to the X axis and the Z axis).

[Overall configuration of machine tool]
1 to 4, a machine tool indicated by reference numeral 1 is composed of, for example, a cylindrical grinding machine, and is generally configured by a machine tool main body 2, a control device 3, and an accessory device (not shown).

(Configuration of machine tool body 2)
As shown in FIG. 1, the machine tool main body 2 includes a work support driving unit 100 that supports a work W so as to be rotationally driven, a wheel rotation spindle unit 200 to which a processing tool 501 such as a grindstone is detachably attached, a link And a parallel mechanism 300 that supports the head 301 on the tool mounting side.

<Configuration of Work Support Drive Unit 100>
As shown in FIG. 1, the work support drive unit 100 includes a headstock base 101 and two left and right headstocks 103, 103, and a front end (lower side in FIG. 1) on a bed (base) 10. It is placed.

  On the rear surface (upper side in FIG. 1) of the headstock base 101, two headstock slide guides 102, 102 are arranged in parallel with each other at a predetermined interval in the left-right (Z-axis) direction and extending in the Z-axis direction. It is installed.

  The headstocks 103 and 103 are arranged on the corresponding headstock slide guides 102 and 102 so as to be movable along the Z-axis direction. Each of the headstock slide guides 102 and 102 is positioned at a predetermined position, and the workpiece W is sandwiched between the center portions thereof. The spindle stocks 103 and 103 are equipped with spindle drive motors 104 and 104 that respectively drive the spindles 105 and 105 at a predetermined rotational speed.

<Configuration of wheel rotation spindle unit 200>
As shown in FIG. 1, the wheel rotation spindle unit 200 includes a wheel rotation spindle 201 capable of gripping a gripped portion of the processing tool 501, and a wheel rotation spindle drive motor (not shown) that rotationally drives the wheel rotation spindle 201. And is mounted on the link head 301. The rotation driving force of the wheel rotation main shaft drive motor is transmitted to the wheel rotation main shaft 201, and the processing tool 501 on the wheel rotation main shaft 201 is rotated at a predetermined rotation number.

<Configuration of parallel mechanism 300>
2 and 3, the parallel mechanism 300 includes a head drive mechanism 302 for moving the link head 301 along the X-axis direction, and one end (head side end) parallel to the X-axis and Z-axis. A link mechanism 303 including a pair of links 303A and 303B connected to each other so as to be rotatable about an axis parallel to the Y axis in a horizontal plane, and the other ends (rail side) of the links 303A and 303B of the link mechanism 303 And a pair of link drive mechanisms 304 and 305 for moving the end portions along the X-axis direction, respectively, and disposed on the bed 10 (shown in FIG. 1).

  The link head 301 includes a head rotary joint 3010 and a linear motion joint 3011. The head rotary joint 3010 is disposed on the slider guide rails 306 and 306 on the bed 10 so as to be movable via the slider 3012, and is linearly movable. A joint 3011 is rotatably supported by a head mounting side end (link free end) of the link mechanism 303 (links 303A and 303B) via a link connecting rotary joint 3030. Then, it moves in the X-axis (second axis) direction via the slider 3012 on the rails 306 and 306, and rotates around the axis (first axis: B-axis) parallel to the Y-axis by the head rotary joint 3010. It is configured to be able to.

  The link connecting rotary joint 3030 is configured to function as a one-degree-of-freedom joint that rotates about an axis parallel to the Y-axis.

  A joint guide that extends in a direction parallel to the rotation axis T (shown in FIG. 3) of the processing tool 501 and guides the linear motion joint 3011 in a uniaxial direction perpendicular to the Y axis is provided on the upper surface of the link head 301. A rail 3013 for use (shown in FIG. 2) is arranged.

  An angle sensor 380 (shown in FIG. 4) such as an encoder for detecting the rotation amount (rotation angle) of the head rotation joint 3010 is disposed on the lower surface of the link head 301.

  The head rotation joint 3010 functions as a one-degree-of-freedom joint that rotates about an axis parallel to the Y axis, is disposed on the lower surface of the link head 301, and is disposed on the link connection rotation joint 3030. Is arranged so as not to move at a position offset in the moving direction of the linear motion joint 3011.

  The linear motion joint 3011 is movably disposed on the rail 3013. As a result, the link connecting rotary joint 3030 is guided to move along the rail 3013 together with the linear motion joint 3011.

  The head drive mechanism 302 includes a feed screw 3020 that moves the slider 3012 and a servo motor 3021 that drives the feed screw 3020, and is connected to the control device 3 (interface 73) via a servo motor unit 80. Then, the link head 301 is moved along the X-axis direction via the slider 3012 so that the position and posture of the link head 301 can be changed together with the link driving mechanisms 304 and 305. A motor rotation detection encoder 3022 for detecting the rotation amount of the servo motor 3021 is attached to the head drive mechanism 302.

  The link mechanism 303 has a pair of links 303 </ b> A and 303 </ b> B that can swing in the same virtual plane as the movement / rotation plane of the link head 301, and is disposed behind the work support drive unit 100. And as above-mentioned, it is comprised so that the upper part of the link head 301 may be hold | maintained at the tool attachment part (link free end part) side.

  One link 303A is rotatably connected via a link rotary joint 3032A to a slider 3031A whose one link end moves on a slider guide rail 3030A on the bed 10, and the other link end is The link head 301 is rotatably connected via a link connecting rotary joint 3030.

  The rail 3030A is formed by a guide member extending along the X-axis direction, and is configured to guide a link end portion on one side of the one link 303A. Note that although the rail 3030A shown in this embodiment is described as being parallel to the X axis (rails 306 and 306), the present invention is not limited to this, and the rail 3030A may be within a plane orthogonal to the Y axis. It may be inclined with respect to the X axis. The link rotation joint 3032A is configured to function as a one-degree-of-freedom joint that rotates about an axis parallel to the Y-axis.

  The other link 303B is rotatably connected via a link rotary joint 3032B to a slider 3031B whose one link end moves on a slider guide rail 3030B on the bed 10, and the other link end is The link head 301 is rotatably connected via a link connecting rotary joint 3030. The link length of the link 303B is set to the same dimension as the link length of the link 303A.

  The rail 3030B is formed of a guide member that is parallel to the rail 3030A at a predetermined interval in the Z-axis direction and extends along the X-axis direction. And it is comprised so that the link edge part of the one side in the other link 303B may be guided. Note that although the rail 3030B described in this embodiment is described as being parallel to the X axis (rails 306 and 306), the present invention is not limited thereto, and the rail 3030B may be in a plane orthogonal to the Y axis. It may be inclined with respect to the X axis. The link rotary joint 3032B is configured to function as a one-degree-of-freedom joint that rotates about an axis parallel to the Y-axis.

  One link driving mechanism 304 includes a feed screw 3040 for moving the slider 3031A and a servo motor 3041 for driving the feed screw 3040, and is connected to the control device 3 (interface 73) via the servo motor unit 80. . Then, the link end on one side of the link 303A is moved along the X-axis direction via the slider 3031A, and the link head 301 is rotated around an axis parallel to the Y-axis. A motor rotation detection encoder 3042 for detecting the rotation amount of the servo motor 3041 is attached to the link drive mechanism 304.

  The other link drive mechanism 305 includes a feed screw 3050 that moves the slider 3031B and a servo motor 3051 that drives the feed screw 3050, and is connected to the control device 3 (interface 73) via the servo motor unit 80. . Then, the link end on one side of the link 303B is moved along the X-axis direction via the slider 3031B, and the link head 301 is rotated around an axis parallel to the Y-axis. A motor rotation detection encoder 3052 that detects the rotation amount of the servo motor 3051 is attached to the link drive mechanism 305.

(Configuration of control device 3)
As shown in FIG. 4, the control device 3 includes a CPU (Central Processing Unit) 71 and a memory 72 and interfaces (I / F) 73 to 75, and moves position information of the link head 301 given by an orthogonal coordinate system. The corresponding command value U is converted into output values of the head drive mechanism 302 and the link drive mechanisms 304 and 305 based on the mechanism parameter P, and the head drive mechanism 302 and the link drive mechanisms 304 and 305 are driven and controlled. ing.

<Configuration of CPU 71>
The CPU 71 reads and analyzes the machining program stored in the memory 72 or the external storage device 78, and based on the mechanism parameter P, the head drive mechanism 302 and the link drive mechanism are based on the movement position / posture information of the link head 301 given in the orthogonal coordinate system. The drive command values for 304 and 305 are converted and output to the servo motor unit 80.

<Configuration of memory 72>
The memory 72 stores various information such as a machining program for executing an actual machining process by the machining tool 501 and a mechanism parameter P.

<Configuration of interfaces 73 to 75>
A servo motor unit 80 (81-83) that drives the head drive mechanism 302 (servo motor 3021) and link drive mechanisms 304, 305 (servo motors 3041, 3051) is connected to the interface 73. The servo motor units 81 to 83 drive the head drive mechanism 302 and the link drive mechanisms 304 and 305, respectively, based on the command value from the CPU 71, and the motor rotation detection encoder 3022 and the link drive mechanism 304, of the head drive mechanism 302. Feedback control is executed based on outputs from encoders 3042 and 3052 for detecting motor rotation 305. Connected to the interface 74 are a keyboard (KB) 76 for inputting machining data and the like, an image display device (CRT) 77 for displaying machining data, the state of the machine tool 1 and the like, and an external storage device 78 for storing machining data. Has been. An angle sensor 380 is connected to the interface 75.

(Attachment configuration)
The accessory device includes an oil supply device, a cooling device, an air supply device, a coolant supply device, and a duct device that connects these devices to the machine tool body 2.

[Operation of machine tool 1]
Next, the operation of the machine tool according to the present embodiment will be described with reference to FIGS. FIG. 5 is a plan view for explaining the X-axis parallel operation of the link head in the machine tool according to the first embodiment of the present invention. FIG. 6 is a plan view for explaining the rotation operation of the link head in the machine tool according to the first embodiment of the present invention. FIG. 7 is a plan view for explaining an advantage when the machine tool according to the first embodiment of the present invention is provided with a head drive mechanism. FIG. 8 is a plan view for explaining the X-axis parallel / rotating operation of the link head in the machine tool according to the first embodiment of the present invention. 5 to 8, the linear motion joint and the like are omitted.

"X-axis parallel motion"
Head rotary joint 3010 (sliders 3012) along the rail 3013, also link pivot joints 3032A, 3032B (sliders 3031A, 3031B) the rails 3030A, respectively moving in the same direction with the same moving amount _{X 1} along 3030B Then, the link head 301 moves in the X-axis direction from the initial position indicated by the two-dot chain line in FIG. 5 and is arranged at the position indicated by the solid line in FIG. 5 in a state where the rotation axis T of the processing tool 501 matches the reference line O. Is done.

"Rotating motion"
When the link rotary joints 3032A and 3032B (sliders 3031A and 3031B) are moved in the same direction along the rails 3030A and 3030B with different movement amounts X ₁ and X ₂ (X ₁ > X ₂ ), the link head 301 is moved as shown in FIG. 6 is shown by a solid line in FIG. 6 in a state in which, for example, the rotation axis T of the processing tool 501 intersects the reference line O by rotating counterclockwise around an axis parallel to the Y axis from the initial position indicated by a two-dot chain line. Placed in position.

Here, as shown in FIG. 7, when the link head 301 is arranged with the rotation axis T of the machining tool 501 orthogonal to the reference line O during workpiece machining, the head rotation joint 3010 (slider 3012) is moved to the rail 306. Can be moved to the workpiece side (downward in FIG. 7), that is, the reaction force F can be generated in the link head 301 against the acting forces f ₁ and f _{2 in the} X-axis direction. For this reason, it is possible to eliminate the existing singular point where the reaction force F cannot be generated in the link head 301 with respect to the acting forces f ₁ and f ₂ in the X-axis direction.

"X-axis parallel rotation operation"
After the link rotary joints 3032A and 3032B (sliders 3031A and 3031B) are moved in the same direction along the rails 3030A and 3030B with different movement amounts X ₁ and X ₂ (X ₁ > X ₂ ), the head rotary joint 3010 ( the slider 3012) along the rail 3013, also link pivot joints 3032A, 3032B (sliders 3031A, 3031B) the rails 3030A, is moved respectively in the same direction with the same moving amount _{X 3} along the 3030B, the link head 301 8 is rotated counterclockwise from an initial position indicated by a two-dot chain line in FIG. 8 about an axis parallel to the Y axis, and the rotation axis T of the processing tool 501 intersects the reference line O in FIG. Arranged at the position indicated by the alternate long and short dash line, and further moved in the X-axis direction and indicated by the solid line in FIG. It is placed in location.

  As described above, in this embodiment, the link head 301 is moved along the X axis, and the position and posture of the link head 301 are controlled by rotating around the axis parallel to the Y axis. The position of the workpiece W can be controlled by moving the headstocks 103 and 103 along the Z-axis direction, and the workpiece W sandwiched between the headstocks 103 and 103 can be processed.

  In this case, when the sliders 3012, 3031 </ b> A, and 3031 </ b> B are positioned, the position of the link coupling rotary joint 3030 on the link head 301 is determined, so that the movement / rotation position of the link head 301 (the tip position of the processing tool 501) It is determined. For this reason, in order to position the link head 301 at a desired movement / rotation position, the positions of the sliders 3012, 3031A, 3031B are calculated from these movement / rotation positions based on a specific arithmetic expression (inverse conversion expression). Then, the sliders 3012, 3031A, and 3031B are moved to positions corresponding to these calculated values.

  In the present embodiment, the parallel mechanism 300 includes a head drive mechanism 302, a link drive mechanism 304, and a link drive mechanism 305 that drive the link head 301, the link 303A, and the link 303B, respectively. In this case, the head drive mechanism 302 exists as a redundant drive mechanism, but the linear joint 3011 is not directly displaced by the presence of the redundant head drive mechanism 302 and the other link drive mechanisms 304 and 305. However, in reality, the mechanism parameter P is not theoretical and includes errors due to the use environment such as manufacturing error, assembly error, temperature change, etc. of each component constituting the parallel mechanism 300 and long-term use. The joint 3011 is displaced to absorb these errors.

[Effect of the first embodiment]
According to the first embodiment described above, the following effects can be obtained.

(1) Since the link head 301 can be moved by the head driving mechanism 302, the existing singularity can be eliminated, and the movable range of the link head 301 can be expanded.

(2) Since the link connecting rotary joint 3030 can move on the link head 301 via the linear motion joint 3011, the processing accuracy of each component and the assembly accuracy between components are poor, or the link 303A. , 303B can absorb various errors caused by errors in the mechanism parameters such as when it expands and contracts due to thermal changes during use, etc., and the components and head drive mechanisms 302, link drive mechanisms 304, 305 caused by these errors can be absorbed. Overloading can be prevented.

[Second Embodiment]
FIG. 9 is a perspective view for explaining the parallel mechanism of the machine tool according to the second embodiment of the present invention. 9, members that are the same as or equivalent to those in FIG. 2 are given the same reference numerals, and detailed descriptions thereof are omitted.

  As shown in FIG. 9, the parallel mechanism 81 shown in the second embodiment includes a head drive mechanism 302 for moving the link head 301 along the X-axis direction, and rail-side end portions of the links 303A and 303B. A pair of link drive mechanisms 304 and 305 for moving along the X-axis direction are provided, and a part is suspended by a mechanism support body 1000 having a substantially U-shaped cross section.

  Therefore, the mechanism support 1000 includes a ceiling portion 1001 on which rails 3030A and 3030B are disposed, and a pair of left and right side wall portions 1002 and 1002 that are connected to the ceiling portion 1001 and face each other, and are disposed on the bed 10. ing.

  The head rotary joint 3010 is disposed on the upper surface of the link head 301 together with the linear motion joint 3011 and the link coupling rotary joint 3030, and the position where the link coupling rotary joint 3030 is disposed is the movement of the linear motion joint 3011. It is placed immovable at a position offset in the direction.

  The rails 3030A and 3030B are disposed on the side walls 102 and 102 of the mechanism support 1000, respectively.

[Effect of the second embodiment]
According to the second embodiment described above, in addition to the effects (1) and (2) of the first embodiment, the following effects can be obtained.

  Since a relatively wide space for discharging can be formed between the link head 301 (processing tool 501) and the bed 10, it is possible to obtain a good discharging property such as workpiece processing waste generated during processing.

[Third embodiment]
FIG. 10 is a perspective view for explaining the parallel mechanism of the machine tool according to the third embodiment of the present invention. FIG. 11 is a plan view for explaining the parallel mechanism of the machine tool according to the third embodiment of the present invention. 10 and 11, the same or equivalent members as those in FIGS. 2 and 3 are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIGS. 10 and 11, the parallel mechanism 91 shown in the third embodiment is configured such that the link head 301 is movably disposed on one rail 3030 </ b> A and the other rail 3030 </ b> B via a slider 3012. There is a feature in that.

  For this reason, the slider 3012 is formed by a flat, generally U-shaped bending member that protrudes forward (work side). The slider central portion (bending portion) has the head rotation joint 3010 on the upper surface of the link head 301. Further, both end portions of the slider are movably disposed on one rail 3030A and the other rail 3030B.

  In the link mechanism 303, the link 303A faces the link branching portions 3033A and 3033A facing each other through the width direction one side portion of the link head 301, and the link 303B faces the other side portion of the link head 301 in the width direction. Each of the link branch portions 3033B and 3033B is provided at the end on the head side, and is formed of a bifurcated member.

  Link connecting rotary joints 3030 and 3030 for rotatably connecting the head side end portions (link branching portions 3033A and 3033B) of the links 303A and 303B are provided on the upper and lower portions of the link head 301, respectively. 3011 is arranged.

[Effect of the third embodiment]
According to the third embodiment described above, in addition to the effects (1) and (2) of the first embodiment, the following effects can be obtained.

  Since the slider 3012 is interposed between the rails 3030A and 3030A on one side and the rails 3030B and 3030B on the other side, the rigidity of the structure that supports the link head 301 can be increased. Also, the slider guide rails 306 and 306 required in the first and second embodiments are not necessary.

[Fourth embodiment]
FIG. 12 is a perspective view for explaining the parallel mechanism of the machine tool according to the fourth embodiment of the present invention. FIG. 12 is a plan view for explaining the parallel mechanism of the machine tool according to the fourth embodiment of the present invention. 12, members identical or equivalent to those in FIG. 10 are given the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 12, in the parallel mechanism 111 shown in the fourth embodiment, the link head 301 is connected to the rails 3030A and 3030A on one side and the rails 3030B and 3030B on the other side via a pair of upper and lower sliders 3012 and 3012. The point is that it is movably arranged.

  For this reason, one slider 3012 is formed by a substantially plane-shaped bending member that protrudes forward (work side) as a whole, and the slider central portion (bending portion) is on the upper surface of the link head 301 on one side. Through the head rotary joint 3010, both end portions of the slider are movably disposed on one rail 3030A, 3030A and the other rail 3030B, 3030B via 3014, 3014, respectively.

  The other slider 3012 is formed by a substantially plane-shaped bent member that projects forward (work side) in the same manner as the one of the slider 3012, and the slider center portion (bend portion) is the lower surface portion of the link head 301. Further, both end portions of the slider are movably disposed on one side rails 3030A and 3030A and the other side rails 3030B and 3030B via connecting portions 3014 and 3014, respectively, via the head revolving joint 3010 on the other side.

[Effect of the fourth embodiment]
According to the fourth embodiment described above, the following effects can be obtained in addition to the effects of the third embodiment.

  Since a pair of upper and lower sliders 3012 and 3012 are interposed between the rails 3030A and 3030A on one side and the rails 3030B and 3030B on the other side, and both sliders 3012 and 3012 are connected by connecting portions 3014 and 3014, the link head 301 The rigidity of the structure that supports can be further increased compared to the case shown in the third embodiment.

[Fifth embodiment]
FIG. 13 is a perspective view for explaining the parallel mechanism of the machine tool according to the fifth embodiment of the present invention. FIG. 14 is a plan view for explaining the parallel mechanism of the machine tool according to the fifth embodiment of the present invention. 15 (a) and 15 (b) are plan views showing an example of workpiece double-side machining using the parallel mechanism of the machine tool according to the fifth embodiment of the present invention. FIG. 15A shows a state in which the processing tool is tilted, and FIG. 15B shows a state in which the processing tool is turned. FIG. 16 is a plan view showing an example of heat treatment on the peripheral surface of the workpiece using the parallel mechanism of the machine tool according to the fifth embodiment of the present invention. 13 to 16, the same or equivalent members as those in FIGS. 2 and 3 are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIGS. 13 and 14, in the parallel mechanism 121 shown in the fifth embodiment, the rail-side end portions of the links 303A and 303B are arranged so as to be movable at a predetermined interval in the Z-axis direction. , 3030B is characterized in that it includes a rail drive mechanism (not shown) that moves along the Z-axis direction.

  For this reason, the rails 3030A and 3030B have a pair of sliders 3031 and 3031 arranged in parallel at a predetermined interval in the X-axis direction, and rails 3032 and 3032 for slider guidance on the bed 10 via the sliders 3031 and 3031. It is arranged to be movable. And it is comprised so that it can move along a Z-axis direction by a rail drive mechanism (not shown).

  In the parallel mechanism 121 configured as described above, the link head 301 can be moved in a direction along an axis parallel to the X axis and in a direction along an axis parallel to the Z axis, and parallel to the Y axis. It can be rotated around a simple axis.

  For this reason, when grinding the workpiece W, as shown in FIG. 15A, the grindstone as the processing tool 501 is moved from the initial position (position where the rotation axis T and the reference line O coincide) to θ (θ <90 °). Grinding of both end faces of the cylindrical workpiece is performed at the inclined position or at a position where the processing tool 501 is turned by θ (θ = ± 90 °) from the initial position as shown in FIG.

  When heat-treating the workpiece W, as shown in FIG. 16, the workpiece peripheral surface treatment is performed while rotating the laser head as the processing tool 501 from the initial position.

  In the present embodiment, the case where the rail side end portions of the links 303A and 303B are arranged to be movable at a predetermined interval in the Z-axis direction has been described. However, the present invention is not limited to this, and X It only needs to be arranged so as to be movable at a predetermined interval in an axial direction substantially orthogonal to the axis and the Y axis.

[Effect of the fifth embodiment]
According to the fifth embodiment described above, the following effects can be obtained in addition to the effects of the first embodiment.

  Since the link head 301 can be moved in a direction along an axis parallel to the X axis and the Z axis, and can be rotated around an axis parallel to the Y axis, it is shown in the first embodiment. Compared to the parallel mechanism, the position and posture of the processing tool 501 can be changed more and the workpiece W can be processed.

[Sixth embodiment]
FIG. 17 is a perspective view for explaining the parallel mechanism of the machine tool according to the sixth embodiment of the present invention. In FIG. 17, the same or equivalent members as those in FIG. 13 are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 17, in the parallel mechanism 161 shown in the sixth embodiment, the rail side end portions of the links 303A and 303B are arranged to be movable at a predetermined interval in the Z-axis direction, and the rails 3030A and 3030B are further moved. A rail drive mechanism (not shown) that moves along the Z-axis direction is provided, and a part is suspended from the mechanism support 1000.

  For this reason, the mechanism support 1000 has a pair of side wall portions 1001 and 1001 that face each other with a predetermined interval, and a ceiling portion 1002 in which rails 3030A and 3030B are arranged so as to be connected to both side wall portions 1001 and 1001. The side walls 1001 and 1001 are movably disposed on rails 3032 and 3032 on the bed 10 via sliders 3031 and 3031.

[Effect of the sixth embodiment]
According to the sixth embodiment described above, the same effect as that of the fifth embodiment can be obtained.

  Since a relatively wide space for discharging can be formed between the link head 301 (processing tool 501) and the bed 10, it is possible to obtain a good discharging property such as workpiece processing waste generated during processing.

[Seventh embodiment]
FIG. 18 is a perspective view for explaining the parallel mechanism of the machine tool according to the seventh embodiment of the present invention. 18, the same or equivalent members as those in FIG. 10 are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 18, the parallel mechanism 171 shown in the seventh embodiment enables the link head 301 to rotate in a virtual plane whose moving / rotating plane is a vertical plane (a plane perpendicular to the Y axis). It is characterized in that it is arranged.

  For this reason, the rails 306 and 306 are disposed on a slider 3031 that extends along the X axis and moves along the rails 3032 and 3032 on the bed 10.

  The sliders 3030A and 3030B extend in the X-axis direction similarly to the rails 306 and 306, and are arranged on both sides of the slider 3031 via bases 3031A and 3031A.

  On the bed 10, slider guide rails 104, 104 are arranged in parallel with each other at a predetermined interval in the Z-axis direction and extend along the Y-axis direction.

  On the rails 104 and 104, sliders 500 and 500 that support a table 400 that rotates about an axis parallel to the X axis are movably disposed.

[Effect of the seventh embodiment]
According to the seventh embodiment described above, the following effects can be obtained in addition to the effects (1) and (2) of the first embodiment.

  Since the workpiece-side rotating shaft is a single rotating shaft, the weight of the movable part is smaller than that of the conventional 5-axis processing machine, and the 5-axis operation is faster while taking advantage of the high speed of the parallel mechanism 171. A processing machine can be configured.

  As mentioned above, although the machine tool of this invention was demonstrated based on said embodiment, this invention is not limited to said embodiment, It implements in a various aspect in the range which does not deviate from the summary. For example, the following modifications are possible.

(1) In each embodiment, the case where the machining tool 501 as a control target is the parallel mechanism 300 held by the link head 301 has been described. However, the present invention is not limited to this, and the workpiece is held by the link head. A parallel mechanism may be used.

(2) In each embodiment, although the case where it applied to the machine tool 1 which uses a grindstone or a heat processing tool as the processing tool 501 was demonstrated, this invention is not limited to this, For example, turning tools, such as an electrodeposition wheel for turning Of course, the present invention can be applied to other machine tools using a surface finishing tool or the like as a processing tool.

The top view shown in order to demonstrate the whole machine tool which concerns on the 1st Embodiment of this invention. The perspective view shown in order to demonstrate the principal part of the machine tool which concerns on the 1st Embodiment of this invention. The top view shown in order to demonstrate the principal part of the machine tool which concerns on the 1st Embodiment of this invention. The block diagram shown in order to demonstrate the control apparatus of the machine tool which concerns on the 1st Embodiment of this invention. The top view shown in order to demonstrate the X-axis parallel operation | movement of the link head in the machine tool which concerns on the 1st Embodiment of this invention. The top view shown in order to demonstrate rotation operation | movement of the link head in the machine tool which concerns on the 1st Embodiment of this invention. The top view shown in order to demonstrate the advantage at the time of providing the machine tool which concerns on the 1st Embodiment of this invention with the head drive mechanism. The top view shown in order to demonstrate the X-axis parallel and rotation operation | movement of the link head in the machine tool which concerns on the 1st Embodiment of this invention. The perspective view shown in order to demonstrate the parallel mechanism of the machine tool which concerns on the 2nd Embodiment of this invention. The perspective view shown in order to demonstrate the parallel mechanism of the machine tool which concerns on the 3rd Embodiment of this invention. The top view shown in order to demonstrate the parallel mechanism of the machine tool which concerns on the 3rd Embodiment of this invention. The perspective view shown in order to demonstrate the parallel mechanism of the machine tool which concerns on the 4th Embodiment of this invention. The perspective view shown in order to demonstrate the parallel mechanism of the machine tool which concerns on the 5th Embodiment of this invention. The top view shown in order to demonstrate the parallel mechanism of the machine tool which concerns on the 5th Embodiment of this invention. (A) And (b) is a top view which shows the workpiece double-sided processing example using the parallel mechanism of the machine tool which concerns on the 5th Embodiment of this invention. The top view which shows the workpiece peripheral surface heat processing example using the parallel mechanism of the machine tool which concerns on the 5th Embodiment of this invention. The perspective view shown in order to demonstrate the parallel mechanism of the machine tool which concerns on the 6th Embodiment of this invention. The perspective view shown in order to demonstrate the parallel mechanism of the machine tool which concerns on the 7th Embodiment of this invention. The perspective view shown in order to demonstrate the conventional machine tool.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Machine tool 2 ... Machine tool main body 3 ... Control apparatus 10 ... Bed 71 ... CPU
72 ... Memory 73-75 ... Interface 76 ... Keyboard 77 ... Image display device 78 ... External storage device 80-83 ... Servo motor unit 100 ... Work support drive unit, 101 ... Spindle base, 102 ... Spindle base slide guide, 103 ... Spindle base 104 ... Spindle drive motor 105 ... Spindle 300, 81, 91, 111, 121, 161, 171 ... Parallel mechanism 301 ... Link head, 3010 ... Head rotary joint, 3011 ... Linear motion joint, 3012 ... Slider, 3013 ... rail for joint guide, 3014 ... connecting portion 302 ... head drive mechanism, 3020 ... feed screw, 3021 ... servo motor, 3022 ... encoder for detecting motor rotation 303 ... link mechanism, 3030 ... rotary joint for link connection 303A ... link 3030A ... Slider guide rail, 3031A ... Slider, 3032A ... Link rotation joint, 3033A ... Link branch, 3034A ... Base 303B ... Link, 3030B ... Slider guide rail, 3031B ... Slider, 3032B ... Link rotation Joint, 3033B ... Link branch, 3034B ... Base 304 ... Link drive mechanism, 3040 ... Feed screw, 3041 ... Servo motor, 3042 ... Encoder for detecting motor rotation 305 ... Link drive mechanism, 3050 ... Feed screw, 3051 ... Servo motor , 3052 ... motor rotation detection encoder 302 ... head drive mechanism 306 ... slider guide rail 380 ... angle sensor 400 ... table 500 ... slider 501 ... processing tool 1000 ... parallel mechanism support, 100 DESCRIPTION OF SYMBOLS 1 ... Ceiling part, 1002 ... Side wall part, 1003 ... Bottom part 3031 ... Slider, 3032 ... Slider guide rail O ... Reference line T ... Rotation axis W ... Workpiece | work 19 ... Machine tool, 19A ... Link head, 19B ... Parallel mechanism , 190B, 191B ... link, 19C ... first guide, 19D ... head slider, 19E ... common pivot, 19F ... second guide, 19G ... link slider, 19H ... third guide, 19I ... link slider

Claims (5)

By rotating a processing tool for processing a workpiece and a link head supporting one of the workpieces around a first axis and moving in a plane perpendicular to the first axis, at least the link head A parallel mechanism that can control the movement of two degrees of freedom,
A head drive mechanism for moving the link head along a second axis perpendicular to the first axis;
One end is connected to the link head via a link rotation unit so as to be rotatable in a plane perpendicular to the first axis, and the other end is rotatable about an axis parallel to the first axis. A link mechanism comprising a pair of links supported movably in a plane perpendicular to the first axis;
A parallel mechanism, comprising: a pair of link drive mechanisms for moving the other ends of the pair of links in a plane orthogonal to the first axis.   The parallel mechanism according to claim 1, wherein the link mechanism is supported such that the other end of the pair of links is movable along an axis parallel to the second axis.   2. The parallel mechanism according to claim 1, wherein the link rotation unit of the pair of links is disposed on the link head so as to be relatively movable in one axial direction perpendicular to the first axis.   2. The parallel mechanism according to claim 1, wherein the link mechanism is arranged such that the other end of the pair of links is movable at a predetermined interval in an axial direction substantially orthogonal to the second axis. By rotating a processing tool for processing a workpiece and a link head supporting one of the workpieces around a first axis and moving in a plane perpendicular to the first axis, at least the link head A parallel mechanism that can control two degrees of freedom;
A machine tool comprising a bed for supporting the other of the processing tool and the workpiece,
The parallel mechanism includes a head drive mechanism for moving the link head along a second axis perpendicular to the first axis;
One end is connected to the link head via a link rotation unit so as to be rotatable in a plane perpendicular to the first axis, and the other end is rotatable about an axis parallel to the first axis. A link mechanism comprising a pair of links supported movably in a plane perpendicular to the first axis;
A machine tool comprising: a pair of link driving mechanisms for moving the other ends of the pair of links in a plane orthogonal to the first axis.

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