WO2019214205A1 - 一种基于便携式五自由度全并联模块的高架式加工装置 - Google Patents

一种基于便携式五自由度全并联模块的高架式加工装置 Download PDF

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Publication number
WO2019214205A1
WO2019214205A1 PCT/CN2018/116117 CN2018116117W WO2019214205A1 WO 2019214205 A1 WO2019214205 A1 WO 2019214205A1 CN 2018116117 W CN2018116117 W CN 2018116117W WO 2019214205 A1 WO2019214205 A1 WO 2019214205A1
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WO
WIPO (PCT)
Prior art keywords
portable
degree
freedom
lead screw
parallel module
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PCT/CN2018/116117
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English (en)
French (fr)
Inventor
刘辛军
谢福贵
解增辉
汪劲松
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清华大学
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Application filed by 清华大学 filed Critical 清华大学
Priority to US16/955,468 priority Critical patent/US11583966B2/en
Publication of WO2019214205A1 publication Critical patent/WO2019214205A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
    • 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
    • B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
    • 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
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C1/00—Milling machines not designed for particular work or special operations
    • B23C1/002—Gantry-type milling machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C1/00—Milling machines not designed for particular work or special operations
    • B23C1/12—Milling machines not designed for particular work or special operations with spindle adjustable to different angles, e.g. either horizontal or vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C1/00—Milling machines not designed for particular work or special operations
    • B23C1/14—Milling machines not designed for particular work or special operations with rotary work-carrying table
    • 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
    • B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
    • B23Q1/012—Portals
    • 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
    • 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
    • B23Q1/52—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 a single rotating pair
    • B23Q1/522—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 a single rotating pair which is perpendicular to the working surface
    • 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
    • B23Q1/545—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 comprising spherical surfaces
    • B23Q1/5462—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 comprising spherical surfaces with one supplementary sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/304536—Milling including means to infeed work to cutter
    • Y10T409/305544—Milling including means to infeed work to cutter with work holder
    • Y10T409/305656—Milling including means to infeed work to cutter with work holder including means to support work for rotation during operation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/30784—Milling including means to adustably position cutter
    • Y10T409/307952—Linear adjustment
    • Y10T409/308288—Linear adjustment including gantry-type cutter-carrier
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/30784—Milling including means to adustably position cutter
    • Y10T409/308512—Compound angular adjustment

Definitions

  • the invention relates to the technical field of numerical control device manufacturing, in particular to an overhead processing device based on a portable five-degree-of-freedom fully parallel module.
  • the processing equipment should have a five-axis linkage processing capability.
  • the processing device is required to have higher processing flexibility and rotational flexibility, and can realize five-face processing in one loading.
  • the parallel mechanism is a closed-loop parallel structure connected between the moving platform and the frame by a plurality of branches. Compared with the traditional series mechanism, the parallel mechanism has a compact structure, high rigidity, strong carrying capacity, fast response, and no geometry. The advantages of error accumulation and amplification, making it an ideal choice for portable processing modules.
  • the parallel mechanism with less degrees of freedom (parallel mechanism with less than six degrees of freedom) is widely studied because it is easier to realize a large working space, especially rotating the working space.
  • the five-degree-of-freedom full parallel mechanism can realize five-axis linkage motion, so The five-degree-of-freedom fully parallel mechanism acts as a portable processing module.
  • the parallel mechanism compared with the series mechanism, the parallel mechanism also has shortcomings such as short moving stroke and small working space, and it is difficult to realize processing of large and complex parts.
  • the advantages of the parallel mechanism are fully utilized, and the rigidity can be ensured.
  • Combining the parallel processing module with the CNC rotary table and the sliding table is a feasible method to solve the above problems.
  • the present invention aims to solve at least one of the technical problems in the related art to some extent.
  • the object of the present invention is to provide an overhead processing device based on a portable five-degree-of-freedom fully parallel module, which can realize processing of large and complex components, and can realize workpiece loading and processing at different stations simultaneously. Carry out and improve the utilization rate and production efficiency of portable parallel modules.
  • an embodiment of the present invention provides an overhead processing device based on a portable five-degree-of-freedom fully parallel module.
  • the overhead processing device based on the portable five-degree-of-freedom full-parallel module of the embodiment of the invention can realize the processing of large and complex parts through the portable five-degree-of-freedom full-parallel module, and can realize the simultaneous loading and processing of the workpiece at different stations. Carry out and improve the utilization rate and production efficiency of portable parallel modules.
  • the overhead processing apparatus based on the portable five-degree-of-freedom full-parallel module may further have the following additional technical features:
  • the portable five-degree-of-freedom full-parallel module includes: a portable frame; a spindle; and first to fifth branches connecting the portable frame and the spindle, for Perform a five-axis linkage movement.
  • the first branch is connected to the portable frame by two first rotating pairs that are perpendicular to each other, and is connected to the main shaft by a second rotating pair
  • the first chain includes a first screw nut pair driven by the input for the degree of freedom of rotation of the screw about the nut axis and the freedom of movement of the lead screw along the branch; the second to fifth branches,
  • Each of the second to fifth branches is connected to the portable frame by two third rotating pairs that are perpendicular to each other, and is connected to the main shaft by two fourth rotating pairs that are perpendicular to each other.
  • Each of the second to fifth branches includes a second spindle nut pair driven by the input for rotational freedom of the screw about the nut axis and freedom of movement of the lead screw along the branch degree.
  • the first branch includes: a first motor, one end of the first motor being connected to the portable frame by two mutually perpendicular rotating pairs.
  • a first lead screw nut pair is fixed to the first motor to form a cylindrical motion pair to realize a screw winding.
  • the degree of freedom of rotation of the nut axis and the degree of freedom of movement of the lead screw in the branching direction, the lead screw of the first spindle nut pair being connected to the spindle by a rotating pair.
  • each of the second to fifth branches includes: a second motor to a fifth motor, and one ends of the second to fifth motors pass Two mutually perpendicular rotating pairs are coupled to the portable frame.
  • each of the second to fifth branches includes: a second lead screw nut pair to a fifth lead screw nut pair, the second wire
  • the nut of the lever nut pair to the fifth lead screw nut pair is fixedly connected with the second motor to form a cylindrical motion pair to realize the degree of freedom of rotation of the screw about the nut axis and the degree of freedom of movement of the lead screw in the branching direction
  • the second lead screw nut pair to the fifth lead screw nut pair of the lead screw are connected to the main shaft through two mutually perpendicular rotating pairs of the Hook hinge.
  • the swing angle range of the portable five-degree-of-freedom full-parallel module satisfies a preset condition for conversion of the vertical processing mode.
  • the portable parallel module can be moved to the finished part by the sliding table or lifting to perform the processing of the next part to realize the workpiece. Card loading and processing are performed simultaneously at different stations, improving the utilization and production efficiency of the portable parallel module.
  • the portable five degree of freedom full parallel module is driven by an electric cylinder or hydraulic drive or cylinder.
  • FIG. 1 is a schematic structural view of an overhead processing apparatus based on a portable five-degree-of-freedom fully parallel module according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a slide table and a numerical control turntable according to an embodiment of the present invention
  • FIG. 3 is a schematic structural view of a portable five-degree-of-freedom fully parallel module according to an embodiment of the present invention
  • FIG. 4 is a schematic exploded view of a first branch, a portable frame, and a main shaft of a portable five-degree-of-freedom fully parallel module, in accordance with one embodiment of the present invention
  • FIG. 5 is a schematic exploded view of a third branch, a portable frame, and a main shaft of a portable five-degree-of-freedom fully parallel module, in accordance with one embodiment of the present invention
  • FIG. 6 is a schematic structural view of an overhead processing apparatus based on a portable five-degree-of-freedom full-parallel module of another embodiment.
  • Slide table I slide base 11; guide rail 12; T-slot platform 13;
  • a first chain 31 a first frame mounting member 311; a first annular rotating member 312; a first motor fixing flange 313; a first motor 314; a first lead screw 315; a first U-shaped rotating member 316; Spindle mount 317;
  • Figure 1 is a block diagram showing the construction of an overhead processing apparatus based on a portable five-degree-of-freedom fully parallel module in accordance with one embodiment of the present invention.
  • the overhead processing device based on the portable five-degree-of-freedom full-parallel module comprises: a slide table I for moving the machine tool and processing the machined parts to increase the machine stroke and enable the machine tool to process large parts.
  • the workpiece loading and processing can be simultaneously performed at different stations; the numerical control turntable II; and the portable five-degree-of-freedom full-parallel module III, the portable parallel module III has a large swing angle range for the conversion of the vertical processing mode And with the CNC rotary table can realize one-load five-sided processing.
  • the parallel module of the device is flexible in movement, and can be installed on the sliding table to process large and complex parts. After the workpiece is processed, it can be moved to the finished part by sliding table or lifting to carry out the next zero.
  • the processing of the parts enables the workpiece loading and processing to be carried out simultaneously at different stations, improving the utilization rate and production efficiency of the portable parallel module.
  • the slide table 1 includes a slide base 11, a guide rail 12 and a T-slot platform 13, and a portable five-degree-of-freedom parallel module III is mounted on the slide table I. It can increase the moving stroke of the machine tool and realize the processing of large parts.
  • the CNC rotary table II is mounted on the T-slot platform 13 for mounting the machined parts, and combined with the portable five-degree-of-freedom parallel module III, the five-face machining can be realized once.
  • the portable five-degree-of-freedom parallel module III includes a first branch 31, a second branch 32, a third branch 33, a fourth branch 34, a fifth branch 35, a portable frame 36, and a spindle. 37.
  • the first branch 31 is connected to the portable frame 36 by two mutually perpendicular rotating pairs, and is connected to the main shaft 37 via a rotating pair, the first branch 31 includes a screw nut pair driven by the input;
  • the branch 32 is connected to the portable frame 36 by two mutually perpendicular rotating pairs, and is connected to the main shaft 37 by two mutually perpendicular rotating pairs, the second branch 32 comprising a lead screw nut driven by the input;
  • the branch 33, the fourth branch 34, and the fifth branch 35 have the same structure as the second branch 32.
  • the five branches are respectively connected between the portable frame 36 and the main shaft 37 to form a closed loop parallel structure, and realize three rotational degrees of freedom and two degrees of freedom of the spindle 37.
  • the first branch 31 includes a first motor, one end of which is coupled to the portable frame 36 by a hook hinge or a universal joint or two mutually perpendicular rotary pairs.
  • the nut in the first lead screw nut pair is fixedly connected with the first motor to form a cylindrical motion pair, which realizes the degree of freedom of rotation of the screw about the nut axis and the degree of freedom of movement of the lead screw in the branching direction, the first screw nut pair
  • the lead screw is connected to the main shaft 37 via a rotating pair.
  • the first branch 31 includes a first frame mount 311, a first annular rotating member 312, a first motor fixing flange 313, a first motor 314, a first lead screw 315, and a first A U-shaped rotating member 316 and a first spindle mount 317.
  • the first frame mounting member 311 is fixed to the portable frame 36 for mounting the first branch; the first annular rotating member 312 is mounted on the first frame mounting member 311 to form a rotating pair; the first motor fixing method
  • the blue 313 is mounted on the first annular rotating member 312 to form a rotating pair.
  • the two rotating auxiliary axes are perpendicular to form a Hooke hinge or a universal joint;
  • the first motor 314 is fixedly connected to the first motor fixing flange 313.
  • the rotor of the first motor is fixed to the nut of the first screw nut pair, so that the first screw 315 of the first screw nut pair realizes the degree of freedom of rotation about the nut axis and the degree of freedom of movement along the branching direction, and constitutes a cylindrical pair;
  • the first lead screw 315 is fixedly coupled to the first U-shaped rotating member 316;
  • the first U-shaped rotating member 316 is coupled to the first spindle mounting member 317 to constitute a rotating pair;
  • the first spindle mounting member 317 and the spindle 37 are fixed even.
  • the first branch 31 may further include: a first motor, one end of the first motor being connected to the portable frame 36 through a ball joint or three mutually perpendicular rotating pairs;
  • the nut of the first screw nut is fixed to the first motor, and the degree of freedom of rotation of the screw about the nut axis is locked by the groove to form a moving pair, thereby realizing freedom of movement of the screw along the branching direction.
  • the lead screw in the first screw nut pair is connected to the main shaft 37 via a rotating pair.
  • the second branch 32, the third branch 33, the fourth branch 34, and the fifth branch 35 each include: a second motor, one end of the second motor passes the Hook hinge or the 10,000 The joint or two mutually perpendicular rotating pairs are connected with the portable frame 36; the second lead screw nut pair and the nut in the second lead screw nut pair are fixedly connected with the second motor to form a cylindrical motion pair, and the screw winding is realized.
  • the degree of freedom of rotation of the nut axis and the degree of freedom of movement of the lead screw in the direction of the branch, the lead screw in the second spindle nut pair is connected to the main shaft 37 by a hook hinge or a universal joint or two mutually perpendicular rotary pairs.
  • the third branch 33 includes a third frame mounting member 331, a third annular rotating member 332, a third motor fixing flange 333, a third motor 334, a third lead screw 335, and a third A three U-shaped rotating member 336, a third spherical rotating member 337 and a third spindle mount 338.
  • the third frame mounting member 331 is fixed to the portable frame 36 for mounting the third branch;
  • the third annular rotating member 332 is mounted on the third frame mounting member 331 to form a rotating pair;
  • the blue 333 is mounted on the third annular rotating member 332 to form a rotating pair.
  • the two rotating auxiliary axes are perpendicular to form a Hooke hinge or a universal joint.
  • the third motor 334 is fixed to the third motor fixing flange 333.
  • the rotor of the third motor is fixedly connected with the nut of the third lead screw nut pair, so that the third lead screw 335 of the third lead screw nut pair realizes the degree of freedom of rotation about the nut axis and the degree of freedom of movement in the branching direction, and constitutes a cylindrical pair;
  • the third lead screw 335 is fixedly coupled to the third U-shaped rotating member 336;
  • the third spherical rotating member 337 is mounted on the third U-shaped rotating member 336, to form a rotating pair;
  • the third spindle mounting member 338 is mounted in the third
  • the spherical rotating member 337 constitutes a rotating pair, and the two rotating auxiliary axes are perpendicular to each other to form a Hooke hinge or a universal joint; and the third spindle mounting member 318 is fixed to the main shaft 37.
  • the second branch 32, the third branch 33, the fourth branch 34, and the fifth branch 35 each include: a second motor, one end of the second motor passes through the ball hinge or three
  • the mutually perpendicular rotating pairs are connected to the portable frame 36; the second lead screw nut pair and the nut in the second lead screw nut pair are fixed to the second motor, and the rotational freedom of the screw about the nut axis is locked by the groove Tightly, the moving pair is formed to realize the degree of freedom of movement of the lead screw in the branching direction, and the lead screw in the second lead screw nut pair is connected to the main shaft 37 through a hook hinge or a universal joint or two mutually perpendicular rotating pairs.
  • the portable five-degree-of-freedom parallel module III is mounted on the slide table I to increase the movement stroke of the machine tool, and the processing of large and complex parts can be realized.
  • the portable five-degree-of-freedom parallel module III can be moved to the finished workpiece by hoisting to complete the processing of the next workpiece after the workpiece is processed, thereby realizing the component loading.
  • the card and the processing are carried out at the same time, which saves the loading time of the workpiece and improves the utilization rate of the portable five-degree-of-freedom parallel module.
  • FIG. 6 another embodiment of the overhead processing apparatus based on the portable five-degree-of-freedom full-parallel module, after the portable five-degree-of-freedom parallel module III can complete the workpiece processing, Move to the finished workpiece by the movement of the large stroke slide to continue the machining of the next workpiece.
  • the parallel module of the overhead processing device based on the portable five-degree-of-freedom full-parallel module of the embodiment of the invention has flexible movement, is installed on the sliding table to increase the stroke, can realize processing of large and complex parts, and can realize workpiece loading and processing. Simultaneously at different stations to increase the utilization and production efficiency of portable parallel modules. .
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. , or integrated; can be mechanical or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction of two elements, unless otherwise specified Limited.
  • the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • the first feature "on” or “under” the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact.
  • the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Machine Tool Units (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • Transmission Devices (AREA)

Abstract

一种基于便携式五自由度全并联模块的高架式加工装置，包括：滑台（Ⅰ），用于移动并联模块，以增大机床行程，使机床具有加工大型零件的能力，还能实现工件装卡和加工在不同工位上同时进行；数控转台（Ⅱ）；以及便携式五自由度全并联模块（Ⅲ），便携式并联模块（Ⅲ）摆角范围大，可以进行立卧加工模式的转换，配合数控转台可实现一次装卡五面加工。并联模块（Ⅲ）运动灵活，安装在滑台（Ⅰ）上可以实现对大型复杂零部件的加工，在完成工件加工之后，可以通过滑台（Ⅰ）或者吊装等方式移动到已装卡完成的零件处进行下一零件的加工，实现工件装卡和加工在不同工位上同时进行，提高便携式并联模块（Ⅲ）的使用率和生产效率。

Description

一种基于便携式五自由度全并联模块的高架式加工装置
相关申请的交叉引用
本申请要求清华大学于2018年05月11日提交的、发明名称为“一种基于便携式五自由度全并联模块的高架式加工装置”的、中国专利申请号“201810448274.5”的优先权。
技术领域
本发明涉及数控装置制造技术领域，特别涉及一种基于便携式五自由度全并联模块的高架式加工装置。
背景技术
近年来，在机械设计制造领域，随着机械设计水平不断进步，零部件中经常会出现空间曲面与异形孔等复杂形状，对加工制造装置与加工工艺提出了更加苛刻的要求。要实现此类零部件的加工，加工装置应具有五轴联动的加工能力。为减少工件装卡次数，提高零件精度以及加工效率，要求加工装置具有更高的加工柔性及转动灵活性，能够实现一次装卡五面加工。
并联机构是一种由多个支链连接在动平台和机架之间的闭环并联结构，与传统的串联机构相比，具有结构紧凑，刚度高，承载能力强，响应速度快，不存在几何误差累积和放大效应等优点，因此成为便携式加工模块的理想选择。少自由度并联机构(自由度数少于六的并联机构)由于更容易实现大的工作空间，尤其是转动工作空间而得到广泛研究，其中五自由度全并联机构可实现五轴联动运动，因此采用五自由度全并联机构作为便携式加工模块。然而与串联机构相比，并联机构也存在着移动行程短，工作空间小等缺点，难以实现大型复杂零部件的加工，为解决上述问题，充分发挥并联机构的优势，开发出既能保证刚度高、承载能力强、摆角范围大、能实现五轴联动运动，又能扩大移动行程和加工范围的新型装置，将并联加工模块与数控转台和滑台结合是解决上述问题的可行方法。
随着机械设计制造行业的迅速发展，对于复杂零部件的需求量也日趋增大，而传统机床通常采用在相同位置先装卡工件再机械加工的加工方式，必然会导致机床在装卡工件过程中的停机，降低了机床的使用率以及零件的产出率，亟待解决。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。
为此，本发明的目的在于提出一种基于便携式五自由度全并联模块的高架式加工装置，该装置可实现大型复杂零部件的加工，并且可以实现工件装卡和加工在不同工位上同时进行，提高便携式并联模块的使用率和生产效率。
为达到上述目的，本发明实施例提出了一种基于便携式五自由度全并联模块的高架式加工装置。
本发明实施例的基于便携式五自由度全并联模块的高架式加工装置，通过便携式五自由度全并联模块可实现大型复杂零部件的加工，并且可以实现工件装卡和加工在不同工位上同时进行，提高便携式并联模块的使用率和生产效率。
另外，根据本发明上述实施例的基于便携式五自由度全并联模块的高架式加工装置还可以具有以下附加的技术特征：
进一步地，在本发明的一个实施例中，所述便携式五自由度全并联模块包括：便携式机架；主轴；连接所述便携式机架和所述主轴的第一至第五支链，用于进行五轴联动运动。
进一步地，在本发明的一个实施例中，第一支链，通过两个彼此垂直的第一转动副与所述便携式机架相连，并通过一个第二转动副与所述主轴相连，所述第一支链包含一个由输入驱动的第一丝杠螺母副，以用于丝杠绕螺母轴线的转动自由度和丝杠沿支链的移动自由度；第二支链至第五支链，所述第二支链至第五支链的每个支链通过两个彼此垂直的第三转动副与所述便携式机架相连，通过两个彼此垂直的第四转动副与所述主轴相连，所述第二支链至第五支链的每个支链包含一个由输入驱动的第二丝杠螺母副，以用于丝杠绕螺母轴线的转动自由度和丝杠沿支链的移动自由度。
进一步地，在本发明的一个实施例中，所述第一支链包括：第一电机，所述第一电机的一端通过两个相互垂直的转动副与所述便携式机架相连。
进一步地，在本发明的一个实施例中，第一丝杠螺母副，所述第一丝杠螺母副的螺母与所述第一电机相固连，以构成圆柱运动副，以实现丝杠绕螺母轴线的转动自由度和丝杠沿支链方向的移动自由度，所述第一丝杠螺母副的丝杠通过一个转动副与所述主轴相连。
进一步地，在本发明的一个实施例中，所述第二支链至第五支链的每个支链包括：第二电机至第五电机，所述第二电机至第五电机的一端通过两个相互垂直的转动副与所述便携式机架相连。
进一步地，在本发明的一个实施例中，所述第二支链至第五支链的每个支链包括：第二丝杠螺母副至第五丝杠螺母副，所述第第二丝杠螺母副至第五丝杠螺母副的螺母与所述第二电机相固连，以构成圆柱运动副，以实现丝杠绕螺母轴线的转动自由度和丝杠沿支链方向的移动自由度，所述第二丝杠螺母副至第五丝杠螺母副的丝杠通过虎克铰两个相互垂直的转动副与所述主轴相连。
进一步地，在本发明的一个实施例中，述便携式五自由度全并联模块的摆角范围满足预设条件，以用于所述立卧加工模式的转换。
进一步地，在本发明的一个实施例中，在完成零件加工后，所述便携式并联模块可以通过滑台或者吊装等方式移动到已装卡完成的零件处进行下一零件的加工，实现工件装卡和加工在不同工位上同时进行，提高便携式并联模块的使用率和生产效率。
进一步地，在本发明的一个实施例中，所述便携式五自由度全并联模块通过电动缸或液压驱动或气缸实现驱动。
附图说明
本发明上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本发明一个实施例的基于便携式五自由度全并联模块的高架式加工装置的结构示意图；
图2是根据本发明一个实施例的滑台和数控转台的结构示意图；
图3是根据本发明一个实施例的便携式五自由度全并联模块的结构示意图；
图4是根据本发明一个实施例的便携式五自由度全并联模块的第一支链、便携式机架和主轴的爆炸结构示意图；
图5是根据本发明一个实施例的便携式五自由度全并联模块的第三支链、便携式机架和主轴的爆炸结构示意图；
图6是另一个实施例的基于便携式五自由度全并联模块的高架式加工装置的结构示意图。
附图标记说明：
滑台I；滑台基座11；导轨12；T型槽平台13；
数控转台II；便携式五自由度并联模块III；
第一支链31；第一机架安装件311；第一环形转动件312；第一电机固定法兰313；第一电机314；第一丝杠315；第一U形转动件316；第一主轴安装件317；
第二支链32；第三支链33；第三机架安装件331；第三环形转动件332；第三电机固定法兰333；第三电机334；第三丝杠335；第三U形转动件336；第三球形转动件337，第三主轴安装件338；
第四支链34；第五支链35；便携式机架36；主轴37。
具体实施方式
下面详细描述本发明的实施例，实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
下面参照附图描述根据本发明实施例提出的基于便携式五自由度全并联模块的高架式加工装置。
图1是根据本发明一个施例的基于便携式五自由度全并联模块的高架式加工装置的结构示意图。
如图1所示，该基于便携式五自由度全并联模块的高架式加工装置包括：滑台I，用于移动机床并对待加工零件进行加工，以增大机床行程，使机床能够加工大型零件，并且还能实现工件装卡和加工在不同工位上同时进行；数控转台II；以及便携式五自由度全并联模块III，所述便携式并联模块III摆角范围大，以进行立卧加工模式的转换,并配合所述数控转台可以实现一次装卡五面加工。该装置的并联模块运动灵活，安装在滑台上可以实现对大型复杂零部件的加工，在完成工件加工之后，可以通过滑台或者吊装等方式移动到已装卡完成的零件处进行下一零件的加工，实现工件装卡和加工在不同工位上同时进行，提高便携式并联模块的使用率和生产效率。
进一步地，如图2所示，在本发明的一个实施例中，滑台I包括滑台基座11、导轨12和T型槽平台13，便携式五自由度并联模块III安装在滑台I上，可以增大机床的移动行程，实现对大型零件的加工。
其中，数控转台II安装在T型槽平台13上，用于安装被加工零件，结合便携式五自由度并联模块III，可实现一次装卡五面加工。
如图3所示，便携式五自由度并联模块III包括第一支链31、第二支链32、第三支链33、第四支链34、第五支链35、便携式机架36和主轴37。
其中，第一支链31通过两个彼此垂直的转动副与便携式机架36相连，通过一个转动副与主轴37相连，该第一支链31包含一个由输入驱动的丝杠螺母副；第二支链32通过两个彼此垂直的转动副与便携式机架36相连，通过两个彼此垂直的转动副与主轴37相连，该第二支链32包含一个由输入驱动的丝杠螺母副；第三支链33、第四支链34、第五支链35与第二支链32结构相同。其中，五个支链分别连接于便携式机架36和主轴37之间，构成闭环并联结构，实现主轴37的三个旋转自由度和两个移动自由度。
进一步地，在本发明的一个实施例中，第一支链31包括第一电机，第一电机的一端通过虎克铰或万向节或两个相互垂直的转动副与便携式机架36相连。第一丝杠螺母副中的螺母与第一电机相固连，构成圆柱运动副，实现丝杠绕螺母轴线的转动自由度和丝杠沿支链方向的移动自由度，第一丝杠螺母副中的丝杠通过一个转动副与主轴37相连。
进一步地，如图4所示，第一支链31包括第一机架安装件311、第一环形转动件312、第一电机固定法兰313、第一电机314、第一丝杠315、第一U形转动件316和第一主轴安装件317。第一机架安装件311与便携式机架36固连，用于安装第一支链；第一环形转动件312安装在第一机架安装件311上，形成一个转动副；第一电机固定法兰313安装在第一环形转动件312上，形成一个转动副，两个转动副轴线垂直，构成一个虎克铰或万向节；第一电机314固连在第一电机固定法兰313上，第一电机的转子与第一丝杠螺母副的螺母固连，使得第一丝杠螺母副中的第一丝杠315实现绕螺母轴线的转动自由度和沿支链方向的移动自由度，构成圆柱副；第一丝杠315与第一U形转动件316固连；第一U形转动件316与第一主轴安装件317相连接，构成转动副；第一主轴安装件317与主轴37固连。
在本发明的另一个实施例中，第一支链31还可以包括：第一电机，第一电机的一端通过球铰节或三个相互垂直的转动副与便携式机架36相连；第一丝杠螺母副，第一丝杠螺母副中的螺母与第一电机相固连，丝杠绕螺母轴线的转动自由度通过凹槽锁紧，构成移动副，实现丝杠沿支链方向的移动自由度，第一丝杠螺母副中的丝杠通过一个转动副与主轴37相连。
在本发明的一个实施例中，第二支链32、第三支链33、第四支链34与第五支链35均包括：第二电机，第二电机的一端通过虎克铰或万向节或两个相互垂直的转动副与便携式机架36相连；第二丝杠螺母副，第二丝杠螺母副中的螺母与第二电机相固连，构成圆柱运动副，实现丝杠绕螺母轴线的转动自由度和丝杠沿支链方向的移动自由度，第二丝杠螺母副中的丝杠通过虎克铰或万向节或两个相互垂直的转动副与主轴37相连。
进一步地，如图5所示，第三支链33包括第三机架安装件331、第三环形转动件332、第三电机固定法兰333、第三电机334、第三丝杠335、第三U形转动件336、第三球形转动件337和第三主轴安装件338。第三机架安装件331与便携式机架36固连，用于安装第三支链；第三环形转动件332安装在第三机架安装件331上，形成一个转动副；第三电机固定法兰333安装在第三环形转动件332上，形成一个转动副，两个转动副轴线垂直，构成一个虎克铰或万向节；第三电机334固连在第三电机固定法兰333上，第三电机的转子与第三丝杠螺母副的螺母固连，使得第三丝杠螺母副中的第三丝杠335实现绕螺母轴线的转动自由度和沿支链方向的移动自由度，构成圆柱副；第三丝杠335与第三U形转动件336固连；第三球形转动件337安装第三U形转动件336上，构成一个转动副；第三主轴安装件338安装在第三球形转动件337上，构成一个转动副，两个转动副轴线垂直，构成一个虎克铰或万向节；第三主轴安装件318与主轴37固连。
在本发明的另一个实施例中，第二支链32、第三支链33、第四支链34与第五支链35均包括：第二电机，第二电机的一端通过球铰或三个相互垂直的转动副与便携式机架36相 连；第二丝杠螺母副，第二丝杠螺母副中的螺母与第二电机相固连，丝杠绕螺母轴线的转动自由度通过凹槽锁紧，构成移动副，实现丝杠沿支链方向的移动自由度，第二丝杠螺母副中的丝杠通过虎克铰或万向节或两个相互垂直的转动副与主轴37相连。
进一步地，在本发明的一个实施例中，便携式五自由度并联模块III安装在滑台I上，增大机床的移动行程，可实现对大型复杂零部件的加工。
进一步地，在本发明的一个实施例中，便携式五自由度并联模块III可在完成工件加工之后，通过吊装的方式移动到已装卡完成的工件处继续下一个工件的加工，实现了零件装卡和加工同时进行，节省了工件的装卡时间，提高便携式五自由度并联模块的利用率。
在本发明的一个实施例中，如图6所示，该基于便携式五自由度全并联模块的高架式加工装置的另一个实施例，在便携式五自由度并联模块III可在完成工件加工之后，通过大行程滑台移动的方式移动到已装卡完成的工件处继续下一个工件的加工。
本发明实施例的基于便携式五自由度全并联模块的高架式加工装置的并联模块运动灵活，安装在滑台上增大行程，可以实现大型复杂零部件的加工，并且可以实现工件装卡和加工在不同工位上同时进行，提高便携式并联模块的使用率和生产效率。。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面” 可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (10)

  1. 一种基于便携式五自由度全并联模块的高架式加工装置，其特征在于，包括：
    滑台，所述滑台用于移动机床并对待加工零件进行加工，以增大机床行程，机床具有加工大型零件的能力，还能实现工件装卡和加工在不同工位上同时进行；
    数控转台；以及
    便携式五自由度全并联模块，所述便携式并联模块摆角范围大，可以进行立卧加工模式的转换，配合所述数控转台能够实现一次装卡五面加工。
  2. 根据权利要求1所述的基于便携式五自由度全并联模块的高架式加工装置，其特征在于，所述便携式五自由度全并联模块包括：
    便携式机架；
    主轴；
    连接所述便携式机架和所述主轴的第一至第五支链，用于进行五轴联动运动。
  3. 根据权利要求2所述的基于便携式五自由度全并联模块的高架式加工装置，其特征在于，其中，
    第一支链，通过两个彼此垂直的第一转动副与所述便携式机架相连，并通过一个第二转动副与所述主轴相连，所述第一支链包含一个由输入驱动的第一丝杠螺母副，以实现丝杠绕螺母轴线的转动自由度和丝杠沿支链的移动自由度；
    第二支链至第五支链，所述第二支链至第五支链的每个支链通过两个彼此垂直的第三转动副与所述便携式机架相连，通过两个彼此垂直的第四转动副与所述主轴相连，所述第二支链至第五支链的每个支链包含一个由输入驱动的第二丝杠螺母副，以实现丝杠绕螺母轴线的转动自由度和丝杠沿支链的移动自由度。
  4. 根据权利要求3所述的基于便携式五自由度全并联模块的高架式加工装置，其特征在于，所述第一支链包括：
    第一电机，所述第一电机的一端通过两个相互垂直的转动副与所述便携式机架相连。
  5. 根据权利要求4所述的基于便携式五自由度全并联模块的高架式加工装置，其特征在于，所述第一支链还包括：
    第一丝杠螺母副，所述第一丝杠螺母副的螺母与所述第一电机相固连，以构成圆柱运动副，以实现丝杠绕螺母轴线的转动自由度和丝杠沿支链方向的移动自由度，所述第一丝杠螺母副的丝杠通过一个转动副与所述主轴相连。
  6. 根据权利要求3所述的基于便携式五自由度全并联模块的高架式加工装置，其特征在于，所述第二支链至第五支链的每个支链包括：
    第二电机至第五电机，所述第二电机至第五电机的一端通过两个相互垂直的转动副与所述便携式机架相连。
  7. 根据权利要求3所述的基于便携式五自由度全并联模块的高架式加工装置，其特征在于，所述第二支链至第五支链的每个支链包括：
    第二丝杠螺母副至第五丝杠螺母副，所述第第二丝杠螺母副至第五丝杠螺母副的螺母与所述第二电机相固连，以构成圆柱运动副，以实现丝杠绕螺母轴线的转动自由度和丝杠沿支链方向的移动自由度，所述第二丝杠螺母副至第五丝杠螺母副的丝杠通过虎克铰两个相互垂直的转动副与所述主轴相连。
  8. 根据权利要求1所述的基于便携式五自由度全并联模块的高架式加工装置，其特征在于，所述便携式五自由度全并联模块的摆角范围满足预设条件，以用于所述立卧加工模式的转换。
  9. 根据权利要求1所述的基于便携式五自由度全并联模块的高架式加工装置，其特征在于，在完成零件加工后，可以通过滑台或者吊装等方式移动到已装卡完成的零件处进行下一零件的加工，实现工件装卡和加工在不同工位上同时进行，提高便携式并联模块的使用率和生产效率。
  10. 根据权利要求1所述的基于便携式五自由度全并联模块的高架式加工装置，其特征在于，所述便携式五自由度全并联模块通过电动缸或液压驱动或气缸实现驱动。
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