WO2020062431A1 - 一种能够实现多方向定点转动的对称三轴并联主轴头 - Google Patents
一种能够实现多方向定点转动的对称三轴并联主轴头 Download PDFInfo
- Publication number
- WO2020062431A1 WO2020062431A1 PCT/CN2018/113544 CN2018113544W WO2020062431A1 WO 2020062431 A1 WO2020062431 A1 WO 2020062431A1 CN 2018113544 W CN2018113544 W CN 2018113544W WO 2020062431 A1 WO2020062431 A1 WO 2020062431A1
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- WIPO (PCT)
- Prior art keywords
- fixed
- spindle head
- symmetrical
- lead screw
- branch
- Prior art date
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Classifications
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- 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
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- 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
- B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
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- 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
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- 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
- B23Q1/64—Movable or adjustable work or tool supports characterised by the purpose of the movement
-
- 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
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/02—Driving main working members
- B23Q5/04—Driving main working members rotary shafts, e.g. working-spindles
- B23Q5/043—Accessories for spindle drives
-
- 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
- B23Q2220/00—Machine tool components
- B23Q2220/006—Spindle heads
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- 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
-
- 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
- Y10T409/309576—Machine frame
Definitions
- the invention relates to the technical field of numerically controlled machine tools and equipment, in particular to a symmetrical three-axis parallel spindle head capable of realizing multi-directional fixed-point rotation.
- the ideal processing method is to remove the metal from a monolithic blank.
- the traditional tandem spindle head can hardly meet the requirements for parts processing accuracy, quality, and processing efficiency.
- the parallel spindle head Compared with the series spindle head, the parallel spindle head has the advantages of high rigidity-to-mass ratio, high dynamic performance and high precision, and is more and more widely used in advanced equipment manufacturing. Among them, the three-axis parallel spindle head with two rotational degrees of freedom and one degree of freedom of movement has good application prospects in the field of high-speed CNC machine tools.
- the three-axis parallel spindle head can be easily matched with two-axis mobile platforms to achieve five-axis simultaneous processing. , While ensuring processing accuracy and quality, greatly improving processing efficiency.
- the purpose of the present invention is to provide a symmetrical three-axis parallel spindle head capable of realizing multi-directional fixed-point rotation, so as to solve the problems existing in the prior art, and not only can the tool realize the orbiting platform and fixed platform only by the parallel spindle head structure itself.
- a fixed-point rotation at any point in multiple directions can also achieve a fixed-point rotation at multiple points around the tip of the tool; and the spindle head has a symmetrical structure and symmetrical movement characteristics.
- the present invention provides a symmetrical three-axis parallel main shaft head capable of achieving multi-directional fixed-point rotation, including three three branches and connections of the same structure arranged in a space 120 ° axis symmetrically.
- the branch chain includes a servo motor, a branch rod, A lead screw and a guide nut, the lead screw and a linear guide are provided in an inner cavity of one end of the branched rod, one end of the lead screw is connected to the servo motor, and the lead screw passes through the guide nut, The other end of the lead screw is connected to the branch rod through a rotating pair.
- the servo motor and the lead screw provide a degree of freedom of movement between the branch rod and the guide nut, and the guide nut is installed on the straight line.
- the guide rail is rotatably connected to the fixed base through a first support disc, and the other end of the branch rod is rotatably connected to the moving base through a second support disc.
- a position of the branch chain connected to the moving base and the fixed base is provided with a moving base bearing and a fixed base bearing, respectively; the first support disc and an inner portion of the fixed base bearing Ring connection, the outer ring of the fixed base bearing is fixedly connected to the fixed base; the second support disc is connected to the inner ring of the moving base bearing, and the outer ring of the moving base bearing is connected to The motion base is fixedly connected.
- the rotation axis of the fixed base bearing intersects with the rotation axis of the moving base bearing at a point in space; the three intersections of the rotation axes of the base bearings of the three branch chains define a plane.
- the other end of the lead screw is connected to the inner cavity wall of the branch rod through a rotating pair.
- the linear guide has four and is respectively fixed to four corners of the inner cavity of the branch rod, the guide nut is mounted on the linear guide, and the guide nut and the linear guide constitute a moving pair.
- the guide nut is connected to the first support disc through a rotating pair consisting of a pin and a bearing, and the other end of the branch rod is connected to the second support disc through a rotating hinge.
- the axis of the rotation pair formed by the guide nut and the first support disc and the axis of the rotation pair formed by the branch rod and the second support disc are parallel to each other.
- the servo motor in the branch chain may be replaced by a linear motor, and the linear motor provides a degree of freedom of movement between the branch link and the guide nut.
- the symmetrical three-axis parallel spindle head capable of multi-directional fixed-point rotation in the present invention can realize the tool's multi-directional fixed-point rotation around any point within a certain range of space only by the parallel spindle head structure itself, and can also realize the Fixed-point rotation function; easy calibration and simple control, which is conducive to trajectory planning and accuracy improvement; the structure is symmetrical, and the movement characteristics are also symmetrical.
- FIG. 1 is a schematic diagram of an axial side of the overall structure of the present invention.
- FIG. 2 is a schematic diagram of a branched structure of the present invention.
- FIG. 3 is a schematic side view of the overall structure of the present invention.
- Figure 4 is a schematic diagram of the exercise of the present invention.
- FIG. 5 is a schematic diagram of turning around a knife point of the present invention.
- the purpose of the present invention is to provide a symmetrical three-axis parallel spindle head capable of realizing multi-directional fixed-point rotation, so as to solve the problems existing in the prior art, and not only can the tool realize the orbiting platform and fixed platform only by the parallel spindle head structure itself.
- a fixed-point rotation at any point in multiple directions can also achieve a fixed-point rotation at multiple points around the tip of the tool; and the spindle head has a symmetrical structure and symmetrical movement characteristics.
- the symmetrical three-axis parallel main shaft head capable of achieving multi-directional fixed-point rotation includes three branches with the same structure arranged in a 120 ° axis symmetrical space, a motion base connected to one end of the three branches, and three connected
- the fixed base of the main body of the branched chain, the processing spindle is fixedly connected to the motion base;
- the branched chain includes a servo motor, a branched rod, a lead screw and a guide nut, and a lead screw and a linear guide are arranged in the inner cavity of one end of the branched rod.
- One end of the lead screw is connected to the servo motor.
- the lead screw passes through the guide nut.
- the other end of the lead screw is connected to the branch rod through a rotating pair.
- the guide nut is installed on the linear guide and rotates with the fixed base through the first support disc.
- the other end of the branch chain rod is rotatably connected to the motion base through a second support disc.
- FIG. 1 is a schematic diagram of an axial side of the overall structure of the present invention
- FIG. 2 is a schematic diagram of a branched structure of the present invention
- FIG. 3 is a schematic side view of the overall structure of the present invention
- the present invention provides a symmetrical three-axis parallel spindle head capable of achieving multi-directional fixed-point rotation, including a fixed base 1, a moving base 5, and a processing spindle 6 fixedly connected to the moving base 5.
- Three fixed branches 2 and 2 with the same structure between the fixed base 1 and the moving base 5 which are arranged axially symmetrically in a space of 120 °.
- the fixed base bearings 3 are connected to the fixed base 1 and the moving base 5 respectively.
- motion base bearing 4 is connected to the fixed base 1 and the moving base 5 respectively.
- the branch chain 2 is composed of a branch rod 21, a servo motor 22, a lead screw 23, a linear guide 24, a guide nut 25, a first support disc 26, a rotary hinge 27, and a second support disc 28.
- the servo motor 22 is fixedly connected to one end of the branch rod 21, one end of the lead screw 23 is connected to the servo motor 22, and is driven by the servo motor 22.
- the servo motor 22 and the lead screw 23 provide a space between the branch rod 21 and the guide nut 25 Freedom of movement, the lead screw 23 passes through the guide nut 25, and the other end is connected to the other end of the branch rod 21 through a rotating pair; the linear guide 24 has four, which are fixed to the four corners of the square inner cavity of the branch rod 21, respectively.
- the nut 25 is mounted on the linear guide 24 of the square inner cavity of the branch link 21.
- the guide nut 25 and the linear guide 24 constitute a moving pair.
- the guide nut 25 is a rotating pair or other equivalent structure formed by a pin and a bearing.
- the support disc 26 is connected and the axis of the rotary pair is 2a.
- the branch link 21 and the second support disc 28 are connected by a rotary hinge 27.
- the branch link 21 and the second support disc 28 form a rotary pair, and the rotary pair
- the axis is 2b.
- the axis 2a and Secondary axes 2b parallel to each other.
- one end of the branch chain 2 is connected to the inner ring of the fixed base bearing 3 through the first support disc 26, the outer ring of the fixed base bearing 3 is fixedly connected to the fixed base bearing 3, and the fixed base bearing 3 is fixed.
- the rotation axis is 3a.
- the other end of the branch chain 2 is connected to the inner ring of the motion base bearing 4 through the second support disc 28.
- the outer ring of the motion base bearing 4 is fixedly connected to the motion base 5.
- the rotation axis of the bearing 4 is 4a.
- the angle between the rotation axis 3a of the fixed base bearing 3 and the end face of the fixed base 1 is ⁇ .
- the angle between the rotation axis 4a of the moving base bearing 4 and the end face of the moving base 5 It is also ⁇ , and the rotation axis 3 a of the fixed base bearing 3 and the rotation axis 4 a of the moving base bearing 4 intersect at a point A in the space.
- the other two branch chains 2 are connected to the fixed base 1 and the motion base 5 in the same manner as the above-mentioned branch chains 2 are connected to the fixed base 1 and the motion base 5 respectively, and can also be obtained.
- the three intersections A, B, and C of the bearing rotation axis define a plane S.
- the driving device in this embodiment adopts a structural form in which the servo motor 22 drives the lead screw 23 to provide a degree of freedom of movement between the branch link 21 and the guide nut 25.
- a linear motor driving method can also be adopted to provide a degree of freedom of movement between the branch link 21 and the guide nut 25.
- any other structural form that can achieve the same motion function is used.
- the present invention enables the fixed base 1 to be connected to two orthogonal moving platforms, thereby forming a five-axis CNC machine tool processing unit.
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Abstract
Description
Claims (9)
- 一种能够实现多方向定点转动的对称三轴并联主轴头,其特征在于:包括三个呈空间120°轴对称布置的三条结构相同的支链、连接三个所述支链一端的运动基座和连接三个所述支链的主体的固定基座,加工主轴固连在所述运动基座上;所述支链包括伺服电动机、支链杆、丝杠和导向螺母,所述支链杆的一端的内腔中设置所述丝杠和直线导轨,所述丝杠的一端与所述伺服电动机连接,所述丝杠穿过所述导向螺母,所述丝杠的另一端通过转动副与所述支链杆相连,所述伺服电动机和丝杠,为所述支链杆和导向螺母之间提供一个移动自由度,所述导向螺母安装在所述直线导轨上且通过第一支撑圆盘与所述固定基座转动连接,所述支链杆的另一端通过第二支撑圆盘与所述运动基座转动连接。
- 根据权利要求1所述的能够实现多方向定点转动的对称三轴并联主轴头,其特征在于:所述支链上与所述运动基座和固定基座连接的位置分别设置有运动基座轴承和固定基座轴承;所述第一支撑圆盘与所述固定基座轴承的内圈连接,所述固定基座轴承的外圈与所述固定基座固连;所述第二支撑圆盘与所述运动基座轴承的内圈连接,所述运动基座轴承的外圈与所述运动基座固连。
- 根据权利要求2所述的能够实现多方向定点转动的对称三轴并联主轴头,其特征在于:所述固定基座轴承的转动轴线和所述固定基座的端面存在夹角,且同一支链上的所述运动基座轴承的转动轴线和所述运动基座的端面之间的夹角与之相同。
- 根据权利要求3所述的能够实现多方向定点转动的对称三轴并联主轴头,其特征在于:所述固定基座轴承的转动轴线与所述运动基座轴承的转动轴线相交于空间一点;三个支链的基座轴承转动轴线的三个交点确定一个平面。
- 根据权利要求1所述的能够实现多方向定点转动的对称三轴并联主轴头,其特征在于:所述丝杠的另一端通过转动副与所述支链杆的内腔壁相连。
- 根据权利要求1所述的能够实现多方向定点转动的对称三轴并联 主轴头,其特征在于:所述直线导轨有四条且分别固定于所述支链杆内腔的四个角,所述导向螺母安装在所述直线导轨上,所述导向螺母与所述直线导轨构成移动副。
- 根据权利要求6所述的能够实现多方向定点转动的对称三轴并联主轴头,其特征在于:所述导向螺母通过销轴和轴承构成的转动副与所述第一支撑圆盘连接,所述支链杆的另一端通过转动铰链与所述第二支撑圆盘连接。
- 根据权利要求7所述的能够实现多方向定点转动的对称三轴并联主轴头,其特征在于:所述导向螺母和第一支撑圆盘构成的转动副的轴线与所述支链杆和第二支撑圆盘构成的转动副的轴线相互平行。
- 根据权利要求1所述的能够实现多方向定点转动的对称三轴并联主轴头,其特征在于:所述支链中的伺服电动机可采用直线电动机替换,所述直线电动机为支链杆和导向螺母之间提供一个移动自由度。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2021516673A JP7036480B2 (ja) | 2018-09-26 | 2018-11-02 | 多方向に定点回転を実現でき三軸が対称に並列接続される主軸ヘッド |
KR1020217008673A KR102450266B1 (ko) | 2018-09-26 | 2018-11-02 | 다방향 고정점 회전이 가능한 대칭형 3축 병렬 스핀들 헤드 |
US17/190,531 US11813709B2 (en) | 2018-09-26 | 2021-03-03 | Symmetrical three-axis parallel spindle head capable of multi-directional fixed-point rotation |
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CN201811122852.2 | 2018-09-26 | ||
CN201811122852.2A CN109128872B (zh) | 2018-09-26 | 2018-09-26 | 一种能够实现多方向定点转动的对称三轴并联主轴头 |
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US17/190,531 Continuation US11813709B2 (en) | 2018-09-26 | 2021-03-03 | Symmetrical three-axis parallel spindle head capable of multi-directional fixed-point rotation |
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US (1) | US11813709B2 (zh) |
JP (1) | JP7036480B2 (zh) |
KR (1) | KR102450266B1 (zh) |
CN (1) | CN109128872B (zh) |
WO (1) | WO2020062431A1 (zh) |
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CN114633214A (zh) * | 2022-03-11 | 2022-06-17 | 黄山学院 | 曲面加工装置及方法 |
CN114769686A (zh) * | 2022-05-27 | 2022-07-22 | 清华大学 | 大型回转类球面薄壁件镜像铣加工装备及方法 |
CN114770194A (zh) * | 2022-05-27 | 2022-07-22 | 清华大学 | 大型回转类锥形薄壁件外侧网格特征镜像铣加工装备及方法 |
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CN109894883B (zh) * | 2019-03-26 | 2020-05-05 | 燕山大学 | 一种能够绕定点转动的对称三轴并联主轴头 |
CN113798870A (zh) * | 2021-11-18 | 2021-12-17 | 浙江大学杭州国际科创中心 | 一种加工设备以及加工方法 |
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US11813709B2 (en) | 2023-11-14 |
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