WO1998051443A1 - Machine for machining down oblong work pieces - Google Patents

Machine for machining down oblong work pieces Download PDF

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Publication number
WO1998051443A1
WO1998051443A1 PCT/CH1997/000178 CH9700178W WO9851443A1 WO 1998051443 A1 WO1998051443 A1 WO 1998051443A1 CH 9700178 W CH9700178 W CH 9700178W WO 9851443 A1 WO9851443 A1 WO 9851443A1
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WIPO (PCT)
Prior art keywords
axis
machine
tool spindle
tool
rotation
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PCT/CH1997/000178
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German (de)
French (fr)
Inventor
Ralph Liechti
Fritz Lehmann
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Liechti Engineering Ag
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Publication date
Application filed by Liechti Engineering Ag filed Critical Liechti Engineering Ag
Priority to AU26301/97A priority Critical patent/AU2630197A/en
Priority to PCT/CH1997/000178 priority patent/WO1998051443A1/en
Publication of WO1998051443A1 publication Critical patent/WO1998051443A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/5468—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair
    • B23Q1/5481—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed parallelly by a single rotating pair followed parallelly by a single rotating pair

Definitions

  • the invention relates to a machine for machining elongated workpieces with at least one clamping device for a workpiece which can be driven about a first axis of rotation and at least one tool spindle which can be driven about a second axis of rotation lying in the tool axis and which runs along a first translation axis parallel to the first axis of rotation and is displaceable along a second translation axis perpendicular to the first axis of rotation and parallel to the second axis of rotation, the clamping device being displaceable along a third translation axis perpendicular to the first and second translation axes and the tool spindle being pivotable about a pivot axis parallel to the third translation axis.
  • Numerically controlled machining centers are almost exclusively used today for machining workpieces with complex shaped surfaces, such as turbine blades.
  • the design of such machining centers is based on the idea of enabling the complete machining of different and complicated workpieces in a single clamping.
  • the centers have at least three translational movement axes with a numerical path control, which are usually supplemented by one or two likewise numerically controlled rotation axes.
  • the way in which these axes of motion are assigned to the tool or workpiece determines the design of the machining center, in particular the structure and mutual arrangement of the various stand and table assemblies.
  • the range of parts to be manufactured determines the technical parameters of a machining center, such as the type and number of controlled axes, cutting performance, speed and feed range, and length of travel.
  • Efforts to reduce the manufacturing costs of machining workpieces of the type mentioned above are essentially two-way. First, one tries to reduce the acquisition and operating costs of the corresponding machining centers by building them Simplified as possible and - if this is also associated with a simplification - adapts to the workpieces to be machined with it.
  • Machine called "six-axis tool device” has become known, which has two spaced platforms, one of which can carry a tool and the other a workpiece.
  • the two platforms are connected to one another by six elements variable in length, for example hydraulic cylinders or threaded spindles, and can be moved relative to one another. By changing the length of the elements in a controlled manner, one of the platforms can be moved spatially in any area in relation to the other.
  • the document WO 92/17313 entitled “Manipulator” shows a similar machine, in which, however, two platforms, one of which can carry a workpiece, are immovably connected to one another.
  • the six variable-length elements in this case carry the tool and are mounted on the other of the platforms mentioned. By controlling the length of the elements in a controlled manner, the tool can be moved anywhere in an area.
  • a disadvantage of the first of the machines mentioned is that a relatively large mass has to be accelerated with the movable platform, as a result of which the working speed of this machine is limited.
  • Both of the machines mentioned have in common that they have at least six controlled drives and just as many guides for carrying out the relative movements between the tool and the workpiece, which is not only very complex and expensive, but also difficult to manage in terms of control technology.
  • a first object of the present invention is to provide a machine for machining elongated workpieces which has a structure which is considerably simplified compared to known machines of this type.
  • a second aim is to make such a machine modular so that, in particular, its frame can be assembled easily and quickly according to the required size.
  • Another object of the invention is to propose a machine of the type mentioned at the outset, in which the moving masses are small compared to the prior art.
  • the machine according to the invention enables all movements of the tool spindle in a plane determined by the first and second translation axes and the pivoting movement of the tool spindle with a single guide, it is simpler, smaller, lighter and less expensive than machines of the prior art with comparable ones Tasks.
  • the simplicity of the structural design favors the design of the machine in a modular design.
  • the relatively small moving masses result in improved dynamics of the machine according to the invention compared to known machines.
  • FIG. 1 shows a front view of an embodiment of the machine according to the invention
  • Figure 2 is a side view of the machine shown in Figure 1 and
  • FIGS. 3 and 4 schematic diagrams to illustrate the kinematics of the machine according to the invention
  • the milling machine shown in FIGS. 1 and 2 is specially designed for producing turbine blades and contains a machine bed 1 on which an upper support 3 is held by means of supports 2. On the side of this carrier 3 facing the machine bed 1 there is a guide 4 which extends in the direction of the first translation axis X and on which three carriages 5, 6 and 7 are displaceably mounted independently of one another. Each carriage is equipped with a drive, not shown, which moves the carriage along the guide 4 in a controlled manner.
  • the two outer carriages 5 and 7 each contain a joint 8 or 9, with which an arm 10 or 11 is connected.
  • Each of the two arms 10 and 11 is connected at its other end by means of a further joint 12 or 13 to a milling unit 14, which includes the tool spindle 15 receiving a tool, for example a milling tool 16, together with its drive.
  • the middle slide 6 is rigidly connected to a guide 17 extending in the direction of the second translation axis Z.
  • an axis 18 is displaceable in the direction of the second translation axis Z, which axis 18 intersects the tool spindle 15 at right angles above the two further joints 12 and 13 and protrudes on both sides beyond the milling unit 14, as can be seen in FIG. 2.
  • a table 19 is slidably received on a guide 20 in the direction of the third translation axis Y.
  • This table carries a clamping device 21 with which a workpiece 22 is held rotatably about a first axis of rotation A.
  • a tailstock 23 which can be moved on the table 19 in the direction of the first translation axis X.
  • FIG. 3 shows how the tool 16 is moved by the amount z16 in the direction of the second translation axis Z from a starting position shown with solid lines to an end position shown with broken lines.
  • a movement of the tool in the direction of the first translation axis X is achieved in that all three slides 5, 6 and 7 are shifted in the same direction by the same amount.
  • the axis of the tool spindle starts from a vertical position about the axis B shown with solid lines, executes a pivoting movement by the angle ⁇ into a position shown with broken lines.
  • the position of the swivel axis can be selected as desired within a certain range by corresponding control of the displacement paths x'5, x'6 and x'7.
  • the position of the pivot axis B is selected such that it lies close to the point of contact of the milling tool 16 on the workpiece 22. This choice has the advantage that the point of contact remains undisturbed when swiveling the tool, so that only minimal linear corrections have to be made. This saves unnecessarily long readjustments.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Machine Tool Units (AREA)

Abstract

The invention relates to a machine for machining down oblong work pieces, comprising at least one clamping device (21) for a work piece, and at least one tool spindle (15). Said clamping device (21) can be driven around a first rotational axis (A) and said tool spindle can be driven around a second rotational axis (C).The tool spindle can be moved along an X-axis and a Z-axis and can also pivot in a certain area. Three runners (5, 6, 7) can be moved independently of each other on a guide element (4) by means of drive mechanisms. The middle runner (6) has a guide element (17) which runs in the direction of the Z-axis, a support unit (14) for the tool spindle being moveable along said guide element. The other two runners (5, 7) are coupled with said tool spindle support unit (14) by means of arms (10, 11). The inventive machine is characterised in that it has fewer drive mechanisms and especially fewer guide elements than known machines of this type and in that it is easy to construct in modules. The masses which are moved in the inventive machine are also low compared with known machines, with the result that the dynamics of the inventive machine are improved.

Description

Maschine zum spanabhebenden Bearbeiten von länglichen Werkstücken Machine for machining elongated workpieces
Die Erfindung betrifft eine Maschine zum spanabhebenden Bearbeiten von länglichen Werkstücken mit mindestens einer um eine erste Rotationsachse antreibbare Spannvorrichtung für ein Werkstück und mindestens ei- ner um eine zweite, in der Werkzeugachse liegende Rotationsachse antreibbare Werkzeugspindel, welche entlang einer zur ersten Rotationsachse parallelen ersten Translationsachse und entlang einer zur ersten Rotationsachse rechtwinkligen und zur zweiten Rotationsachse parallelen zweiten Translationsachse verschiebbar ist, wobei die Spannvorrichtung entlang einer zur er- sten und zweiten Translationsachse rechtwinkligen dritten Translationsachse verschiebbar ist und wobei ferner die Werkzeugspindel um eine zur dritten Translationsachse parallele Schwenkachse schwenkbar ist.The invention relates to a machine for machining elongated workpieces with at least one clamping device for a workpiece which can be driven about a first axis of rotation and at least one tool spindle which can be driven about a second axis of rotation lying in the tool axis and which runs along a first translation axis parallel to the first axis of rotation and is displaceable along a second translation axis perpendicular to the first axis of rotation and parallel to the second axis of rotation, the clamping device being displaceable along a third translation axis perpendicular to the first and second translation axes and the tool spindle being pivotable about a pivot axis parallel to the third translation axis.
Zur spanabhebenden Bearbeitung von Werkstücken mit komplex geformten Oberflächen, wie beispielsweise Turbinenschaufeln, werden heute fast ausschliesslich numerisch gesteuerte Bearbeitungszentren verwendet. Die Konzeption solcher Bearbeitungszentren beruht auf dem Gedanken, die komplette Bearbeitung unterschiedlicher und komplizierter Werkstücke in einer einzigen Aufspannung zu ermöglichen. Die Zentren verfügen dazu über mindestens drei translatorische Bewegungsachsen mit einer numerischen Bahn- Steuerung, die meist durch eine oder zwei ebenfalls numerisch gesteuerte Rotationsachsen ergänzt sind. Die Art der Zuordnung dieser Bewegungsachsen zum Werkzeug oder Werkstück bestimmt die Bauform des Bearbeitungszentrums, insbesondere den Aufbau und die gegenseitige Anordnung der verschiedenen Ständer- und Tischbaugruppen. Das zu fertigende Teilespektrum bestimmt die technischen Kenngrössen eines Bearbeitungszentrums wie Art und Anzahl der gesteuerten Achsen, Schnittleistung, Drehzahl- und Vorschubbereich sowie Länge der Verfahrwege.Numerically controlled machining centers are almost exclusively used today for machining workpieces with complex shaped surfaces, such as turbine blades. The design of such machining centers is based on the idea of enabling the complete machining of different and complicated workpieces in a single clamping. For this purpose, the centers have at least three translational movement axes with a numerical path control, which are usually supplemented by one or two likewise numerically controlled rotation axes. The way in which these axes of motion are assigned to the tool or workpiece determines the design of the machining center, in particular the structure and mutual arrangement of the various stand and table assemblies. The range of parts to be manufactured determines the technical parameters of a machining center, such as the type and number of controlled axes, cutting performance, speed and feed range, and length of travel.
Die Bemühungen zur Reduktion der Fertigungskosten beim Bearbeiten von Werkstücken der oben genannten Art zielen im wesentlichen in zwei Richtungen. Erstens versucht man, die Anschaffungs- und Betriebskosten der entsprechenden Bearbeitungszentren zu reduzieren, indem man deren Aufbau möglichst vereinfacht und - sofern dies ebenfalls mit einer Vereinfachung verbunden ist - den damit zu bearbeitenden Werkstücken anpasst.Efforts to reduce the manufacturing costs of machining workpieces of the type mentioned above are essentially two-way. First, one tries to reduce the acquisition and operating costs of the corresponding machining centers by building them Simplified as possible and - if this is also associated with a simplification - adapts to the workpieces to be machined with it.
Zweitens zielen viele Bemühungen zur Reduktion der Fertigungskosten auf eine Verkürzung der Bearbeitungszeit pro Werkstück. Dies kann ins- besondere durch Erhöhen der Geschwindigkeit der Relativbewegungen zwischen Werkzeug und Werkstück beim eigentlichen Bearbeiten, aber auch beim Zustellen und beim Wechseln der Werkzeuge erreicht werden. Eine Grenze liegt bei der erreichbaren Beschleunigung, die massgeblich durch die Grosse der bewegten Massen beeinflusst wird.Second, many efforts to reduce manufacturing costs are aimed at shortening the machining time per workpiece. This can be achieved in particular by increasing the speed of the relative movements between the tool and the workpiece during actual machining, but also when advancing and changing the tools. There is a limit to the acceleration that can be achieved, which is significantly influenced by the size of the moving masses.
Unter der Veröffentlichungsnummer WO 91 /03145 ist eine alsUnder the publication number WO 91/03145 is a as
"sechsachsige Werkzeugvorrichtung" bezeichnete Maschine bekanntgeworden, die zwei voneinander beabstandete Plattformen aufweist, von denen eine ein Werkzeug und die andere ein Werkstück tragen kann. Die beiden Plattformen sind durch sechs längenveränderliche Elemente, beispielsweise Hydrau- likzylinder oder Gewindespindeln, miteinander verbunden und relativ zueinander bewegbar. Durch gesteuerte Änderung der Länge der Elemente ist eine der Plattformen in Bezug auf die andere in einem Bereich beliebig räumlich bewegbar.Machine called "six-axis tool device" has become known, which has two spaced platforms, one of which can carry a tool and the other a workpiece. The two platforms are connected to one another by six elements variable in length, for example hydraulic cylinders or threaded spindles, and can be moved relative to one another. By changing the length of the elements in a controlled manner, one of the platforms can be moved spatially in any area in relation to the other.
Das Dokument WO 92/17313 mit dem Titel "Manipulator" zeigt eine ähnliche Maschine, bei der jedoch zwei Plattformen, von denen wiederum eine ein Werkstück tragen kann, unbeweglich miteinander verbunden sind. Die sechs längenveränderlichen Elemente tragen in diesem Fall das Werkzeug und sind an der anderen der genannten Plattformen gelagert. Durch gesteuerte Änderung der Länge der Elemente ist das Werkzeug in einem Bereich beliebig räumlich bewegbar.The document WO 92/17313 entitled "Manipulator" shows a similar machine, in which, however, two platforms, one of which can carry a workpiece, are immovably connected to one another. The six variable-length elements in this case carry the tool and are mounted on the other of the platforms mentioned. By controlling the length of the elements in a controlled manner, the tool can be moved anywhere in an area.
Ein Nachteil der ersten der genannten Maschinen besteht darin, dass mit der beweglichen Plattform eine relativ grosse Masse beschleunigt werden muss, wodurch die Arbeitsgeschwindigkeit dieser Maschine begrenzt ist. Beiden der genannten Maschinen ist gemeinsam, dass sie allein zum Durchführen der Relativbewegungen zwischen Werkzeug und Werkstück mindestens sechs gesteuerte Antriebe und ebenso viele Führungen aufweisen, was nicht nur sehr aufwendig und teuer, sondern auch steuerungstechnisch schwierig zu bewältigen ist.A disadvantage of the first of the machines mentioned is that a relatively large mass has to be accelerated with the movable platform, as a result of which the working speed of this machine is limited. Both of the machines mentioned have in common that they have at least six controlled drives and just as many guides for carrying out the relative movements between the tool and the workpiece, which is not only very complex and expensive, but also difficult to manage in terms of control technology.
Ein erstes Ziel der vorliegenden Erfindung besteht in der Schaffung einer Maschine zum spanabhebenden Bearbeiten von länglichen Werkstücken, die einen gegenüber bekannten derartigen Maschinen erheblich vereinfachten Aufbau aufweist. Ein zweites Ziel besteht darin, eine solche Maschine modular zu gestalten, so dass insbesondere deren Gestell einfach und rasch entsprechend der erforderlichen Grosse zusammengestellt werden kann. Ein weiteres Ziel der Erfindung besteht darin, eine Maschine der eingangs genannten Art vorzuschlagen, bei der die bewegten Massen gegenüber dem vorbekannten Stand der Technik gering sind. Schliesslich ist es auch ein Ziel der Erfindung, eine derartige Maschine mit einer gegenüber dem vorbekannten Stand der Technik reduzierten Anzahl von Antriebskomponenten und insbesondere Führungen zu entwickeln.A first object of the present invention is to provide a machine for machining elongated workpieces which has a structure which is considerably simplified compared to known machines of this type. A second aim is to make such a machine modular so that, in particular, its frame can be assembled easily and quickly according to the required size. Another object of the invention is to propose a machine of the type mentioned at the outset, in which the moving masses are small compared to the prior art. Finally, it is also an object of the invention to develop such a machine with a reduced number of drive components and, in particular, guides, compared to the prior art.
Diese Ziele werden durch eine Maschine der eingangs genanntenThese goals are achieved by a machine of the type mentioned at the beginning
Art erreicht, welche die im kennzeichnenden Teil des Patentanspruchs 1 angegebenen Merkmale aufweist.Type achieved, which has the features specified in the characterizing part of claim 1.
Dadurch, dass die erfindungsgemässe Maschine sämtliche Bewegungen der Werkzeugspindel in einer durch die erste und zweite Translati- onsachse bestimmten Ebene und die Schwenkbewegung der Werkzeugspindel mit einer einzigen Führung ermöglicht, ist sie einfacher, kleiner, leichter und kostengünstiger als Maschinen des Standes der Technik mit vergleichbaren Aufgaben. Die Einfachheit des konstruktiven Aufbaus begünstigt eine Gestaltung der Maschine in modularer Bauweise. Die relativ geringen bewegten Mas- sen haben eine gegenüber bekannten Maschinen verbesserte Dynamik der erfindungsgemässen Maschine zur Folge.Because the machine according to the invention enables all movements of the tool spindle in a plane determined by the first and second translation axes and the pivoting movement of the tool spindle with a single guide, it is simpler, smaller, lighter and less expensive than machines of the prior art with comparable ones Tasks. The simplicity of the structural design favors the design of the machine in a modular design. The relatively small moving masses result in improved dynamics of the machine according to the invention compared to known machines.
Durch das im Anspruch 4 definierte Verfahren zum Betrieb einer erfindungsgemässen Maschine wird erreicht, dass der Berührungspunkt oder Arbeitspunkt zwischen Werkzeug und Werkstück beim Verschwenken der Werkzeugspindel praktisch erhalten bleibt, so dass Linearkorrekturen nur noch in einem geringen Umfang erfolgen müssen. Dies spart unnötig lange Nachstellbewegungen. Anhand von Figuren ist die Erfindung im folgenden näher beschrieben. Es zeigen:The method defined in claim 4 for operating a machine according to the invention ensures that the point of contact or working point between the tool and the workpiece is practically retained when the tool spindle is pivoted, so that linear corrections need only be carried out to a small extent. This saves unnecessarily long readjustments. The invention is described in more detail below with reference to figures. Show it:
Figur 1 Eine Frontansicht einer Ausführungsart der erfindungsgemässen Maschine,FIG. 1 shows a front view of an embodiment of the machine according to the invention,
Figur 2 eine Seitenansicht der in Figur 1 gezeigten Maschine undFigure 2 is a side view of the machine shown in Figure 1 and
Figuren 3 und 4 Prinzipskizzen zur Veranschaulichung der Kinematik der erfindungsgemässen MaschineFigures 3 and 4 schematic diagrams to illustrate the kinematics of the machine according to the invention
Die in den Figuren 1 und 2 gezeigte Fräsmaschine ist speziell zum Herstellen von Turbinenschaufeln konzipiert und enthält ein Maschinenbett 1 , auf dem mittels Stützen 2 ein oberer Träger 3 gehalten ist. An der dem Maschinenbett 1 zugewandten Seite dieses Trägers 3 befindet sich eine sich in Richtung der ersten Translationsachse X erstreckende Führung 4, auf welcher drei Schlitten 5, 6 und 7 unabhängig voneinander verschiebbar gelagert sind. Jeder Schlitten ist mit einem nicht dargestellten Antrieb ausgestattet, der den Schlit- ten gesteuert längs der Führung 4 bewegt. Die beiden aussen liegenden Schlitten 5 und 7 enthalten je ein Gelenk 8 bzw. 9, mit denen je ein Arm 10 bzw. 11 verbunden ist. Jeder der beiden Arme 10 und 11 ist an seinem anderen Ende mittels eines weiteren Gelenkes 12 bzw. 13 mit einer Fräseinheit 14 verbunden, welche die ein Werkzeug, beispielsweise ein Fräswerkzeug 16, aufnehmende Werkzeugspindel 15 mitsamt ihrem Antrieb umfasst. Der mittlere Schlitten 6 ist mit einer sich in Richtung der zweiten Translationsachse Z erstreckenden Führung 17 starr verbunden. In dieser Führung 17 ist eine Achse 18 in Richtung der zweiten Translationsachse Z verschiebbar, welche Achse 18 die Werkzeugspindel 15 oberhalb der beiden weiteren Gelenke 12 und 13 rechtwinklig schneidet und auf beiden Seiten über die Fräseinheit 14 hervorsteht, wie dies in Figur 2 ersichtlich ist.The milling machine shown in FIGS. 1 and 2 is specially designed for producing turbine blades and contains a machine bed 1 on which an upper support 3 is held by means of supports 2. On the side of this carrier 3 facing the machine bed 1 there is a guide 4 which extends in the direction of the first translation axis X and on which three carriages 5, 6 and 7 are displaceably mounted independently of one another. Each carriage is equipped with a drive, not shown, which moves the carriage along the guide 4 in a controlled manner. The two outer carriages 5 and 7 each contain a joint 8 or 9, with which an arm 10 or 11 is connected. Each of the two arms 10 and 11 is connected at its other end by means of a further joint 12 or 13 to a milling unit 14, which includes the tool spindle 15 receiving a tool, for example a milling tool 16, together with its drive. The middle slide 6 is rigidly connected to a guide 17 extending in the direction of the second translation axis Z. In this guide 17, an axis 18 is displaceable in the direction of the second translation axis Z, which axis 18 intersects the tool spindle 15 at right angles above the two further joints 12 and 13 and protrudes on both sides beyond the milling unit 14, as can be seen in FIG. 2.
Auf dem Maschinenbett 1 ist ein Tisch 19 auf einer Führung 20 in Richtung der dritten Translationsachse Y verschiebbar aufgenommen. Dieser Tisch trägt eine Spannvorrichtung 21 , mit welcher ein Werkstück 22 um eine erste Rotationsachse A drehbar gehalten ist. Zur Stützung des Werkstückes ist zudem ein in Richtung der ersten Translationsachse X auf dem Tisch 19 verschiebbarer Reitstock 23 vorhanden.On the machine bed 1, a table 19 is slidably received on a guide 20 in the direction of the third translation axis Y. This table carries a clamping device 21 with which a workpiece 22 is held rotatably about a first axis of rotation A. To support the workpiece there is also a tailstock 23 which can be moved on the table 19 in the direction of the first translation axis X.
Im folgenden wird anhand der Figuren 3 und 4 die Kinematik der oben beschriebenen Maschine erläutert. Figur 3 zeigt, wie eine Bewegung des Werkzeuges 16 um den Betrag z16 in Richtung der zweiten Translationsachse Z von einer mit ausgezogenen Linien dargestellten Ausgangslage in eine mit unterbrochenen Linien dargestellte Endlage bewerkstelligt wird. Dazu werden die beiden aussen liegenden Schlitten 5 und 7 um den gleichen Betrag x5 = x7 aufeinander zu bewegt, wobei der mittlere Schlitten 6 an der selben Stelle ver- bleibt. Eine Bewegung des Werkzeuges in Richtung der ersten Translationsachse X wird erzielt, indem alle drei Schlitten 5, 6 und 7 um den selben Betrag in die selbe Richtung verlagert werden. Femer sind sämtliche Kombinationen der eben geschilderten Bewegungen möglich, so dass das Werkzeug durch entsprechende Steuerung der Antriebe der Schlitten 5, 6 und 7 beliebig in der durch die erste und zweite Translationsachse definierten Ebene X-Z bewegt werden kann. Solange dabei der Schlitten 6 stets genau in der Mitte zwischen den beiden anderen Schlitten 5 und 7 bleibt, ist die Werkzeugspindel 15 in Richtung der Z-Achse ausgerichtet. Sobald jedoch einer oder mehrere der drei Schlitten so verschoben werden, dass sich der Schlitten 6 nicht mehr in der Mitte zwischen den beiden anderen Schlitten befindet, neigt sich die Achse der Werkzeugspindel. In Figur 4 ist ein Fall dargestellt, in dem die Achse der Werkzeugspindel ausgehend von einer mit durchgehenden Linien dargestellten vertikalen Lage um die Achse B eine Schwenkbewegung um den Winkel α in eine mit unterbrochenen Linien dargestellte Lage ausführt. Die Lage der Schwenkachse ist dabei durch entsprechende Steuerung der Verschiebewege x'5, x'6 und x'7 in einem gewissen Bereich beliebig wählbar. Im vorliegenden Fall ist die Lage der Schwenkachse B so gewählt, dass diese nahe beim Berührungspunkt des Fräswerkzeuges 16 am Werkstück 22 liegt. Diese Wahl hat den Vorteil, dass der Berührungspunkt beim Schwenken des Werkzeuges un- gefähr erhalten bleibt, so dass nur minimale Linearkorrekturen vorgenommen werden müssen. Dies spart unnötig lange Nachstellbewegungen. The kinematics of the machine described above is explained below with reference to FIGS. 3 and 4. FIG. 3 shows how the tool 16 is moved by the amount z16 in the direction of the second translation axis Z from a starting position shown with solid lines to an end position shown with broken lines. For this purpose, the two outside carriages 5 and 7 are moved towards each other by the same amount x5 = x7, the middle carriage 6 remaining at the same point. A movement of the tool in the direction of the first translation axis X is achieved in that all three slides 5, 6 and 7 are shifted in the same direction by the same amount. Furthermore, all combinations of the movements just described are possible, so that the tool can be moved as desired in the plane X-Z defined by the first and second translation axes by correspondingly controlling the drives of the carriages 5, 6 and 7. As long as the carriage 6 always remains exactly in the middle between the other two carriages 5 and 7, the tool spindle 15 is aligned in the direction of the Z axis. However, as soon as one or more of the three slides are moved so that the sled 6 is no longer in the middle between the two other slides, the axis of the tool spindle tilts. FIG. 4 shows a case in which the axis of the tool spindle, starting from a vertical position about the axis B shown with solid lines, executes a pivoting movement by the angle α into a position shown with broken lines. The position of the swivel axis can be selected as desired within a certain range by corresponding control of the displacement paths x'5, x'6 and x'7. In the present case, the position of the pivot axis B is selected such that it lies close to the point of contact of the milling tool 16 on the workpiece 22. This choice has the advantage that the point of contact remains undisturbed when swiveling the tool, so that only minimal linear corrections have to be made. This saves unnecessarily long readjustments.

Claims

Patentansprüche claims
1. Maschine zum spanabhebenden Bearbeiten von länglichen Werkstücken (22) mit mindestens einer um eine erste Rotationsachse (A) antreibbaren Spannvorrichtung (21) für ein Werkstück und mindestens einer um eine zweite, in der Werkzeugachse liegende Rotationsachse (C) antreibbaren Werkzeugspindel (15), welche entlang einer zur ersten Rotationsachse (A) parallelen ersten Translationsachse (X) und entlang einer zur ersten Rotationsachse (A) rechtwinkligen und zur zweiten Rotationsachse (C) parallelen zweiten Translationsachse (Z) verschiebbar ist, wobei die Spannvorrichtung entlang einer zur ersten (X) und zweiten (Z) Translationsachse rechtwinkligen dritten Translationsachse (Y) verschiebbar ist und wobei ferner die Werkzeugspindel (15) um eine zur dritten Translationsachse (Y) parallele Schwenkachse (B) schwenkbar ist, dadurch gekennzeichnet, dass im Abstand von der ersten Rotationsachse (A) eine in Richtung der ersten Translationsachse (X) verlaufende Führung (4) angeordnet ist, entlang welcher drei Schlitten (5, 6, 7) unabhängig voneinander verschiebbar sind, dass der mittlere (6) der drei Schlitten eine in Richtung der zweiten Translationsachse (Z) verlaufende Führung (17) trägt, entlang welcher eine die Werkzeugspindel tragende Einheit (14) verschiebbar ist, dass jeder der beiden anderen Schlitten (5, 7) mittels ei- nes ersten Gelenkes (8, 9) mit einem Ende eines Armes (10, 11 ) verbunden ist und das andere Ende jedes Armes mittels eines zweiten Gelenkes (12, 13) mit der die Werkzeugspindel tragenden Einheit (14) verbunden ist.1. Machine for machining elongated workpieces (22) with at least one clamping device (21) which can be driven about a first axis of rotation (A) for a workpiece and at least one tool spindle (15) which can be driven about a second axis of rotation (C) lying in the tool axis which is displaceable along a first translation axis (X) parallel to the first axis of rotation (A) and along a second translation axis (Z) perpendicular to the first axis of rotation (A) and parallel to the second axis of rotation (C), the tensioning device being displaceable along a first ( X) and second (Z) translation axis of the right-angled third translation axis (Y) can be displaced and furthermore the tool spindle (15) can be pivoted about a pivot axis (B) parallel to the third translation axis (Y), characterized in that at a distance from the first axis of rotation (A) a guide (4) extending in the direction of the first translation axis (X) is arranged along which three slides (5, 6, 7) can be displaced independently of one another, that the middle (6) of the three slides carries a guide (17) running in the direction of the second translation axis (Z), along which a unit (14 ) that each of the other two slides (5, 7) is connected to one end of an arm (10, 11) by means of a first joint (8, 9) and the other end of each arm is connected by means of a second joint (12 , 13) is connected to the unit (14) carrying the tool spindle.
2. Maschine nach Anspruch 1 , dadurch gekennzeichnet, dass die beiden zweiten Gelenke (12, 13) in Richtung der ersten Translationsachse (X) voneinander beabstandet sind.2. Machine according to claim 1, characterized in that the two second joints (12, 13) in the direction of the first translation axis (X) are spaced apart.
3. Maschine nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass sie einen durch Stützen (2) im Abstand über einem Maschinenbett (1) gehaltenen Träger (3) aufweist, an dem sich die in Richtung der ersten Translationsachse (X) verlaufende Führung (4) befindet, dass auf dem Maschinenbett ein in Richtung der dritten Translationsachse (Y) verschiebbarer Tisch (19) gelagert ist und dass sich auf dem Tisch die Spannvorrichtung (21) für ein Werkstück (22) befindet. 3. Machine according to claim 1 or 2, characterized in that it has a support (3) held by supports (2) at a distance above a machine bed (1), on which the guide (X) extending in the direction of the first translation axis (X) 4) that a table (19) which is displaceable in the direction of the third translation axis (Y) is mounted on the machine bed and that the clamping device (21) for a workpiece (22) is located on the table.
4. Verfahren zum Betrieb einer Maschine nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die drei Schlitten (5, 6, 7) derart gesteuert bewegt werden, dass die Werkzeugspindel (15) um eine Schwenkachse (B) geschwenkt wird, die sich im Berührungspunkt des Werk- zeuges mit dem Werkstück befindet. 4. The method for operating a machine according to one of the preceding claims, characterized in that the three carriages (5, 6, 7) are moved in a controlled manner such that the tool spindle (15) is pivoted about a pivot axis (B) which is in the Point of contact of the tool with the workpiece.
PCT/CH1997/000178 1997-05-09 1997-05-09 Machine for machining down oblong work pieces WO1998051443A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU26301/97A AU2630197A (en) 1997-05-09 1997-05-09 Machine for machining down oblong work pieces
PCT/CH1997/000178 WO1998051443A1 (en) 1997-05-09 1997-05-09 Machine for machining down oblong work pieces

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CH1997/000178 WO1998051443A1 (en) 1997-05-09 1997-05-09 Machine for machining down oblong work pieces

Publications (1)

Publication Number Publication Date
WO1998051443A1 true WO1998051443A1 (en) 1998-11-19

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PCT/CH1997/000178 WO1998051443A1 (en) 1997-05-09 1997-05-09 Machine for machining down oblong work pieces

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AU (1) AU2630197A (en)
WO (1) WO1998051443A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT410292B (en) * 1999-01-25 2003-03-25 Ernst Krause & Co Machine tool with bar kinematic positioning of tools and/or components
CZ299124B6 (en) * 2001-06-18 2008-04-30 Kovosvit Mas A.S. Parallel positioning mechanism, particularly for metal cutting and/or handling and/or measuring

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2571289A1 (en) * 1984-10-08 1986-04-11 Forest Line Sa Orientation device for a tool
WO1991003145A1 (en) * 1989-09-01 1991-03-21 Kearney & Trecker Corporation Six axis machine tool
US5378282A (en) * 1993-06-28 1995-01-03 Pollard; Willard L. Robotic tool manipulating apparatus
DE19525482A1 (en) * 1995-07-13 1997-01-16 Bernold Richerzhagen Robot arm for sliding and positioning object in plane - has carriages moved by electric motor over guide rail whereby carriages are connected together by joint elements with workpiece fixed at mid point of joints

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2571289A1 (en) * 1984-10-08 1986-04-11 Forest Line Sa Orientation device for a tool
WO1991003145A1 (en) * 1989-09-01 1991-03-21 Kearney & Trecker Corporation Six axis machine tool
US5378282A (en) * 1993-06-28 1995-01-03 Pollard; Willard L. Robotic tool manipulating apparatus
DE19525482A1 (en) * 1995-07-13 1997-01-16 Bernold Richerzhagen Robot arm for sliding and positioning object in plane - has carriages moved by electric motor over guide rail whereby carriages are connected together by joint elements with workpiece fixed at mid point of joints

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT410292B (en) * 1999-01-25 2003-03-25 Ernst Krause & Co Machine tool with bar kinematic positioning of tools and/or components
CZ299124B6 (en) * 2001-06-18 2008-04-30 Kovosvit Mas A.S. Parallel positioning mechanism, particularly for metal cutting and/or handling and/or measuring

Also Published As

Publication number Publication date
AU2630197A (en) 1998-12-08

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