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 PDF

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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
Application number
PCT/CN2018/113544
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English (en)
French (fr)
Inventor
陈子明
赵琛
李艳文
黄真
Original Assignee
燕山大学
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Publication date
Application filed by 燕山大学 filed Critical 燕山大学
Priority to JP2021516673A priority Critical patent/JP7036480B2/ja
Priority to KR1020217008673A priority patent/KR102450266B1/ko
Publication of WO2020062431A1 publication Critical patent/WO2020062431A1/zh
Priority to US17/190,531 priority patent/US11813709B2/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
    • B23Q1/545—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
    • 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
    • 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
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Machine Tool Units (AREA)
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  • Adjustment Of The Magnetic Head Position Track Following On Tapes (AREA)

Abstract

一种能够实现多方向定点转动的对称三轴并联主轴头，包括三条支链（3）、运动基座（5）和固定基座（1），加工主轴（6）固连在运动基座（5）上；支链（2）包括伺服电动机（22）、支链杆（21）、丝杠（23）和导向螺母（25），支链杆（21）的一端的内腔中设置丝杠（23）和直线导轨（24），丝杠（23）的一端与伺服电动机（22）连接，丝杠（23）穿过导向螺母（25），丝杠（22）的另一端通过转动副与支链杆（21）相连，导向螺母（25）安装在直线导轨（24）上且通过第一支撑圆盘（26）与固定基座（1）转动连接，支链杆（21）的另一端通过第二支撑圆盘（28）与运动基座（5）转动连接。该对称三轴并联主轴头不仅能够仅靠并联主轴头结构本身使得刀具实现绕动平台和定平台内部空间一定范围内任意一点多方向定点转动，还可以实现绕刀尖点多方向定点转动；且该主轴头结构对称，运动特性也具备对称性。

Description

一种能够实现多方向定点转动的对称三轴并联主轴头 技术领域
本发明涉及数控机床设备技术领域，特别是涉及一种能够实现多方向定点转动的对称三轴并联主轴头。
背景技术
为了获得性能优越的整体结构件，理想的加工方式是从一块整体毛坯上将金属切除。但是对于形状结构复杂、材料去除率大、薄壁易变形的结构件，例如大型航空结构件等，传统的串联主轴头难以同时满足对零件加工精度、质量及加工效率等方面的要求。
并联主轴头相较于串联主轴头具有高刚度质量比，高动态性能和高精度的优势，在先进装备制造中的应用越来越广泛。这其中，具有两个转动自由度和一个移动自由度的三轴并联主轴头在高速数控机床设备领域有着良好的应用前景，三轴并联主轴头可以方便的搭配两轴移动平台实现五轴联动加工，在保证加工精度和质量的同时大大提高了加工效率。
但是典型的并联主轴头结构，如专利CN1843709A、专利101049699A、专利CN101691013A以及专利CN102626870A均无法仅靠并联主轴头结构本身实现刀具的多方向定点转动，需要通过控制手段以及附加轴的运动加以实时补偿，给刀头的位置标定和轨迹规划带来困难。一定程度上制约了这类主轴头的精度和动态响应速度。专利CN101497167A能够仅靠并联主轴头结构本身实现刀具的定点转动，但由于结构并不对称，其运动特性也不具备对称性。且现有的并联主轴头动平台的转动中心无法与刀尖点重合，不能实现绕刀尖点的多方向定点转动，增加了实现多轴联动加工的难度。
发明内容
本发明的目的是提供一种能够实现多方向定点转动的对称三轴并联主轴头，以解决上述现有技术存在的问题，不仅能够仅靠并联主轴头结构本身使得刀具实现绕动平台和定平台内部空间一定范围内任意一点多方 向定点转动，还可以实现绕刀尖点多方向定点转动；且该主轴头结构对称，运动特性也具备对称性。
为实现上述目的，本发明提供了如下方案：本发明提供一种能够实现多方向定点转动的对称三轴并联主轴头，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。
优选的，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。
优选的，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。
优选的，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。
优选的，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。
优选的，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。
优选的，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。
优选的，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。
优选的，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。
本发明相对于现有技术取得了以下技术效果：
本发明中的能够实现多方向定点转动的对称三轴并联主轴头，能够仅靠并联主轴头结构本身实现使得刀具实现绕空间一定范围内任意一点多方向定点转动，还能够实现绕刀尖点的定点转动功能；标定容易和控制简单，有利于轨迹规划以及精度的提高；结构对称，运动特性也具备对称性。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明整体结构的轴侧示意图；
图2为本发明的支链结构示意图；
图3为本发明的整体结构的侧视示意图；
图4为本发明的运动示意图；
图5为本发明绕刀尖点转动示意图；
其中，1-固定基座；2-支链；3-固定基座轴承；4-运动基座轴承；5-运动基座；6-加工主轴；21-支链杆；22-伺服电动机；23-丝杠；24-直线导轨；25-导向螺母；26-第一支撑圆盘；27-转动铰链；28-第二支撑圆盘。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明的目的是提供一种能够实现多方向定点转动的对称三轴并联主轴头，以解决上述现有技术存在的问题，不仅能够仅靠并联主轴头结构本身使得刀具实现绕动平台和定平台内部空间一定范围内任意一点多方向定点转动，还可以实现绕刀尖点多方向定点转动；且该主轴头结构对称，运动特性也具备对称性。
本发明提供的能够实现多方向定点转动的对称三轴并联主轴头，包括三个呈空间120°轴对称布置的三条结构相同的支链、连接三个支链一端的运动基座和连接三个支链的主体的固定基座，加工主轴固连在运动基座上；支链包括伺服电动机、支链杆、丝杠和导向螺母，支链杆的一端的内腔中设置丝杠和直线导轨，丝杠的一端与伺服电动机连接，丝杠穿过导向螺母，丝杠的另一端通过转动副与支链杆相连，导向螺母安装在直线导轨上且通过第一支撑圆盘与固定基座转动连接，支链杆的另一端通过第二支撑圆盘与运动基座转动连接。
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。
请参考图1-4，其中，图1为本发明整体结构的轴侧示意图；图2为本发明的支链结构示意图；图3为本发明的整体结构的侧视示意图；图4为本发明的运动示意图。
如图1-4所示，本发明提供一种能够实现多方向定点转动的对称三轴并联主轴头，包括固定基座1、运动基座5、固连在运动基座5上的加工主轴6、呈空间120°轴对称布置的在固定基座1和运动基座5之间的三条结构相同的支链2以及支链2分别连接固定基座1和运动基座5的固定基座轴承3和运动基座轴承4。
如图2所示，支链2由支链杆21、伺服电动机22、丝杠23、直线导轨24、导向螺母25、第一支撑圆盘26、转动铰链27、第二支撑圆盘28构成，伺服电动机22固连在支链杆21的一端，丝杠23的一端与伺服电动机22连接，依靠伺服电动机22驱动，伺服电动机22和丝杠23为支链杆21和导向螺母25之间提供一个移动自由度，丝杠23穿过导向螺母25，另一端通过转动副与支链杆21的另一端相连；直线导轨24有四条，分别固定于支链杆21方形内腔的四个角，导向螺母25安装在支链杆21方形 内腔的直线导轨24上，导向螺母25与直线导轨24构成移动副，导向螺母25通过销轴和轴承构成的转动副或其他形式的等价结构与第一支撑圆盘26连接且该转动副的轴线为2a，支链杆21与第二支撑圆盘28通过转动铰链27连接，支链杆21与第二支撑圆盘28构成转动副且该转动副的轴线为2b，转动副的轴线2a与转动副轴线2b相互平行。
如图3所示，支链2的一端通过第一支撑圆盘26与固定基座轴承3的内圈连接，固定基座轴承3的外圈与固定基座1固连，固定基座轴承3的转动轴线为3a，上述支链2的另一端通过第二支撑圆盘28与运动基座轴承4的内圈连接，运动基座轴承4的外圈与运动基座5固连，运动基座轴承4的转动轴线为4a，上述固定基座轴承3的转动轴线3a与固定基座1端面存在一个夹角为θ，上述运动基座轴承4的转动轴线4a与运动基座5端面的夹角也为θ，且固定基座轴承3的转动轴线3a与运动基座轴承4的转动轴线4a相交于空间一点A。
如图4所示，另外两个支链2分别与固定基座1和运动基座5连接的方式与上述支链2分别与固定基座1和运动基座5的连接方式相同，同样可以得到另外两个轴承转动轴线的交点B和C。轴承转动轴线的三个交点A，B，C确定一个平面S。当各支链2在伺服电动机22的驱动下运动时，运动基座5和与之固连的加工主轴6能够实现绕平面S内任意一点多方向定点转动，属于两个转动自由度，还可以实现垂直于该平面的移动，属于一个移动自由度。
如图5所示，在不改变上述各构件连接关系和几何关系的前提下，仅改变机构的尺寸，控制三个支链2中移动副的长度，能够控制轴承转动轴线的三个交点A，B，C所确定的平面S的位置和姿态，当加工主轴6上的刀头点恰好位于上述平面S上时，能够仅依靠并联主轴头本身实现绕刀尖点多方向定点转动的功能。
本实施例中的驱动装置采用了伺服电动机22驱动丝杠23的结构形式，为支链杆21和导向螺母25之间提供一个移动自由度。为了达到同样的目的，还可以采用直线电机的驱动方式，为支链杆21和导向螺母25之间提供一个移动自由度，在具体实施时，采用其他任意一种可实现相同运动功 能的结构形式作为驱动方式都是可以的。同时，本发明可使得固定基座1与两个正交的移动平台连接，进而构成五轴数控机床加工单元。
本发明中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。

Claims (9)

  1. 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。
  2. 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。
  3. 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。
  4. 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。
  5. 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。
  6. 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。
  7. 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。
  8. 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。
  9. 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。
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