CN101497167B - Parallel type three-shaft mainshaft head structure without accompanied movement - Google Patents
Parallel type three-shaft mainshaft head structure without accompanied movement Download PDFInfo
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- CN101497167B CN101497167B CN2009100798383A CN200910079838A CN101497167B CN 101497167 B CN101497167 B CN 101497167B CN 2009100798383 A CN2009100798383 A CN 2009100798383A CN 200910079838 A CN200910079838 A CN 200910079838A CN 101497167 B CN101497167 B CN 101497167B
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Abstract
The invention relates to an associated movement-free parallel three-axis spindle head structure and belongs to the field of numerically controlled lathes. The structure comprises a dynamic platform, a static platform, a first branch mechanism, a second branch mechanism and a third branch mechanism, wherein the dynamic platform and the static platform are used for mounting a spindle, and the first branch mechanism; the second branch mechanism and the third branch mechanism are used for connecting the dynamic platform and the static platform. The first branch mechanism comprises a first input piece, a first connecting piece, a sliding pair and two turning pairs. The second branch mechanism comprises a second input piece, a second connecting piece, a sliding pair and two turning pairs. The second branch mechanism comprises a third input piece, a third connecting piece, a sliding pair and two spherical hinges or Hook hinges. The sliding pairs of the three branch mechanisms are under drive. The structure realizes rotation without associated movement and contributes to high-precision measurement, thereby achieving high precision. And the structure has the characteristics of high rigidity, low motion mass, high dynamic performance, simple structure, low cost, easy manufacture, relatively high flexibility, contribution to track planning and control, and the like.
Description
Technical field
The invention belongs to Digit Control Machine Tool and make the field, particularly a kind ofly can independently use and can cooperate other device to carry out the parallel triaxial main axle journal structure of Compound Machining.
Background technology
In the present generation aircraft design, what extensively adopt is advanced overall construction design, and its advantage is not only to shorten process and assemble cycle and logistics chain, has also alleviated the weight of structural member simultaneously.Size is big because the aviation integral structure component has, wall is thin, yielding, process characteristics such as the machining difficulty is very big, element precision height, and five-axle linkage processing is the main processing mode of present aerospace component processing.Five-axle linkage can make cutter cut with best geometry, and is not only highly polished, surface roughness is good but also efficient also increases substantially.In recent years, because traditional five-coordinate linkage process equipment more and more can not satisfy the needs of modern aerospace component High-speed machining, lathe producer and aviation manufacturer just are being devoted to develop novel aerospace component High-speed machining equipment both at home and abroad, wherein, five-axle linkage connection in series-parallel (series-parallel connection) High-speed machining equipment is a new direction of present various countries machine industries research, and the Core Feature parts of this type of process equipment are to realize that one is moved and the parallel main shaft head of two interlock rotational motions or pure two interlock rotational motions.Facts have proved that the parallel main shaft head of Three Degree Of Freedom can overcome some kinematics defectives of traditional main tapping, represented the highest level and the development trend of main tapping.At present, many companies are all at the similar five-axle linkage process equipment based on the freedom degree parallel connection main tapping of exploitation.
Germany DS-Technologie company has released the Sprint Z3 type main tapping that adopts parallel moving mechanism originally according to the characteristics of aircraft structure processing technology.The said firm has released the high-performance numerical control machining center Ecospeed of processing aircraft structure on the basis of Sprint Z3 main tapping.The Ecospeed numerical control machining center has that working (machining) efficiency and machining accuracy height, surface quality are good, the aircraft structure after the processing need not series of advantages such as hand sand, and many aircraft factories have obtained application in Europe.For the development trend and the raising competitiveness in industry that adapt to this class lathe, U.S. Cincinnati lathe company has also introduced Sprint Z3 main tapping manufacturing technology from Germany.
Sprint Z3 main tapping adopts the 3-PRS parallel institution, article three, side chain is symmetrically distributed, every side chain is connected by moving sets, revolute pair and ball pivot respectively, it is identical to have branched structure, the advantage that the degree of modularity is high, reduce design, processing and manufacturing cost, obtained great success in actual applications.However, still there are some defectives in Sprint Z3 main tapping, such as: its three branched structures are identical, are symmetrically distributed, and cause the close coupling on the mechanism kinematic, increased the difficulty of control.
In China also someone several parallel triaxial main axle journal structures have been proposed, typical structure shown in patent CN200810104938, CN200810106395.As a whole, this class main-shaft head structure without exception in kinematics of mechanism characteristic, manufacturing and application, all have certain defective and a deficiency, be mainly reflected in: 1, such main-shaft head structure has unavoidable associated movement, promptly the track at moving platform center is not a straight line when realizing two rotational motions, cause the kinematics complexity, need its associated movement of lathe real-Time Compensation; 2, associated movement has increased the difficulty of demarcating widely, and the difficulty of demarcating has limited the raising of machine tool accuracy level; 3, such main-shaft head structure was made and the assembly technology complexity during engineering was used, and did not meet the present manufacturing technology level present situation of China, had limited applying of such main tapping.Therefore, overcome these defectives, develop novel three-axis main-shaft head and have great importance.
Summary of the invention
The objective of the invention is to overcome the existing kinematic defective of parallel main tapping, seeking breakthrough on the parallel institution configuration utilizes the virtual center parallel institution not have the advantage of associated movement to design a kind of parallel triaxial main axle journal structure that does not have associated movement.This main tapping can realize that one is moved and two rotational freedoms, and the center of rotation of two rotational freedoms do not have associated movement, can directly measure and reach thus high-precision control.Characteristics such as this structure has high rigidity, harmonic motion quality, high dynamic performance, simple structure, identical parts quantity is many, cost is low, easy manufacturing, flexibility ratio is higher and trajectory planning is simple, and can cooperate other device to carry out Compound Machining.
A kind of parallel triaxial main axle journal structure that does not have associated movement that the present invention proposes, this structure comprises the moving platform of an installation main shaft, a fixed platform, and connect first between described moving platform and the fixed platform, the second and the 3rd branch, it is characterized in that, described first branch comprises first input component, first connector and three kinematic pairs, these three kinematic pairs are respectively: be connected in the moving sets between described first input component and the fixed platform, be connected in first revolute pair between described first input component and first connector and be connected in second revolute pair between described first connector and the moving platform; Described second branch comprises second input component, second connector and three kinematic pairs, and described three kinematic pairs are respectively: be connected in moving sets between described second input component and the fixed platform, be connected in first revolute pair between described second input component and second connector and be connected in described second connector and described first connector between second revolute pair; Described the 3rd branch comprises the 3rd input component, the 3rd connector and three kinematic pairs, described three kinematic pairs are respectively: be connected in moving sets between described the 3rd input component and the fixed platform, be connected in ball pivot or Hooke's hinge between described the 3rd input component and the 3rd connector, and be connected in Hooke's hinge or ball pivot between described the 3rd connector and the moving platform; Wherein, the moving sets in described three branches drives.
First revolute pair in described first branch is vertical with the axis of second revolute pair, and is parallel with the axis of two revolute pairs in second branch.
Described moving platform can be the support that comprises that a plurality of rod members are formed.
The another kind that the present invention proposes does not have the parallel triaxial main axle journal structure of associated movement, this structure comprises the moving platform of an installation main shaft, a fixed platform, and connect first between described moving platform and the fixed platform, the second and the 3rd branch, it is characterized in that, described first branch comprises first input component, first connector and three kinematic pairs, these three kinematic pairs are respectively: be connected in the moving sets between described first input component and the fixed platform, be connected in first revolute pair between described first input component and first connector and be connected in second revolute pair between described first connector and the moving platform; Described second branch comprises second connector, second input component and three kinematic pairs, and described three kinematic pairs are respectively: be connected in first revolute pair between described second connector and the fixed platform, be connected in the moving sets between described second connector and second input component and be connected in described second input component and described first connector between second revolute pair; Described the 3rd branch comprises the 3rd connector, the 3rd input component and three kinematic pairs, described three kinematic pairs are respectively: be connected in ball pivot or Hooke's hinge between described the 3rd connector and the fixed platform, be connected in the moving sets between described the 3rd connector and the 3rd input component, and be connected in Hooke's hinge or ball pivot between described the 3rd input component and the moving platform; Wherein, the moving sets in described three branches drives.
Design feature of the present invention and effect
The present invention makes the moving platform that main shaft is installed have an one-movement-freedom-degree and two independent rotation frees degree, and because of its structural particularity, the i.e. axis normal of first revolute pair in first branch and second revolute pair, and it is parallel with the axis of two revolute pairs in second branch, make that the track of center of rotation of moving platform is a point, such mechanism learns in the research at parallel institution and is called as " virtual center parallel institution ", do not have associated movement when it rotates moving platform, reach high precision thereby be beneficial to accurate measurement.
This main-shaft head structure has the following advantages: (1) installs the pivot angle big (can realize 〉=± 40 °) of the moving platform of main shaft; (2) compact conformation; (3) rigidity height; (4) be convenient to trajectory planning and control; (5) response speed is fast.These advantages are widely used this structure on the main tapping of five-axis linkage machine tools.
Description of drawings
Fig. 1 is the structural representation of the first embodiment of the present invention
Fig. 2 is the structural representation of the second embodiment of the present invention
The specific embodiment
A kind of parallel triaxial main axle journal structure that does not have associated movement that the present invention proposes reaches embodiment in conjunction with the accompanying drawings and is described in detail as follows.
The structure of the first embodiment of the present invention, as shown in Figure 1, this structure comprises the moving platform 17 of an installation main shaft, a fixed platform, this fixed platform is made up of fixed all-in-one-piece platform base 13, column 11,12,14; And connect first, second and the 3rd branch between described moving platform 17 and the fixed platform, described first branch comprises first input component 15, first connector 16 and the kinematic pair, described kinematic pair has three, one is the moving sets that is connected between described first input component 15 and the fixed platform column 14, one is first revolute pair that is connected between described first input component 15 and first connector 16, and one is second revolute pair that is connected between described first connector 16 and the moving platform 17; Described second branch comprises second input component 111, second connector 19 and the kinematic pair, described kinematic pair has three, one is the moving sets that is connected between described second input component 111 and the fixed platform column 12, one is first revolute pair that is connected between described second input component 111 and second connector 19, and one is second revolute pair that connects between described second connector 19 and first connector 16; Described the 3rd branch comprises the 3rd input component 110, the 3rd connector 18 and kinematic pair, described kinematic pair has three, one is the moving sets that is connected between described the 3rd input component 110 and the fixed platform column 11, one is the ball pivot that is connected between described the 3rd input component 110 and the 3rd connector 18, and one is the Hooke's hinge that is connected between described the 3rd connector 18 and the moving platform 17; Wherein, the moving sets in described three branches drives.
First revolute pair in described first branch is vertical with the axis of second revolute pair, and is parallel with the axis of two revolute pairs in second branch.
Present embodiment is realized an one-movement-freedom-degree and two rotational freedoms of the moving platform of installation main shaft.
The structure of the second embodiment of the present invention, as shown in Figure 2, this structure comprises the moving platform 29 of an installation main shaft, a fixed platform, and connect first, second and the 3rd branch between described moving platform 29 and the fixed platform, wherein, different among the order of kinematic pair and the embodiment one in second branch of present embodiment structure and the 3rd branch, the same among first branch and the embodiment one, in addition, the fixed platform of present embodiment comprises fixed all-in-one-piece platform base 22, base connector 21,23 and column 25 compositions.Specifically be described in detail as follows: this first branch is made up of first input component 27, first connector 28 and kinematic pair, described kinematic pair has three, one is the moving sets that connects between described first input component 27 and the fixed platform column 25, one is the revolute pair that connects between described first input component 27 and described first connector 28, and one is the revolute pair that connects between described first connector 28 and the moving platform 29; This second branch is made up of second connector 24, second input component 26 and kinematic pair, described kinematic pair has three, one is the revolute pair between fixed platform base connector 23 and described second connector 24, one is the moving sets between described second connector 24 and described second input component 26, and one is the revolute pair between described second input component 26 and described first connector 28; The 3rd branch is made up of the 3rd connector 211, the 3rd input component 210 and kinematic pair, described kinematic pair has three, one is the ball pivot between described the 3rd connector 211 and the fixed platform base connector 21, one is the moving sets between described the 3rd connector 211 and described the 3rd input component 210, and one is the Hooke's hinge that connects between described the 3rd input component 210 and the moving platform 29.
Present embodiment is realized an one-movement-freedom-degree and two rotational freedoms of the moving platform of installation main shaft.
Claims (4)
1. parallel triaxial main axle journal structure that does not have associated movement, this structure comprises the moving platform of an installation main shaft, a fixed platform, and connect first between described moving platform and the fixed platform, the second and the 3rd branch, described first branch comprises first input component, first connector and three kinematic pairs, these three kinematic pairs are respectively: be connected in the moving sets between described first input component and the fixed platform, be connected in first revolute pair between described first input component and first connector and be connected in second revolute pair between described first connector and the moving platform; Described second branch comprises second input component, second connector and three kinematic pairs, and described three kinematic pairs are respectively: be connected in moving sets between described second input component and the fixed platform, be connected in first revolute pair between described second input component and second connector and be connected in described second connector and described first connector between second revolute pair; Described the 3rd branch comprises the 3rd input component, the 3rd connector and three kinematic pairs, described three kinematic pairs are respectively: be connected in moving sets between described the 3rd input component and the fixed platform, be connected in ball pivot or Hooke's hinge between described the 3rd input component and the 3rd connector, and be connected in Hooke's hinge or ball pivot between described the 3rd connector and the moving platform; Wherein, the moving sets in described three branches drives; It is characterized in that first revolute pair in described first branch is vertical with the axis of second revolute pair, and be parallel with the axis of two revolute pairs in second branch; And the track of the center of rotation of moving platform is a point.
2. structure as claimed in claim 1 is characterized in that, described moving platform is the support that comprises that a plurality of rod members are formed.
3. parallel triaxial main axle journal structure that does not have associated movement, this structure comprises the moving platform of an installation main shaft, a fixed platform, and connect first between described moving platform and the fixed platform, the second and the 3rd branch, it is characterized in that, described first branch comprises first input component, first connector and three kinematic pairs, these three kinematic pairs are respectively: be connected in the moving sets between described first input component and the fixed platform, be connected in first revolute pair between described first input component and first connector and be connected in second revolute pair between described first connector and the moving platform; Described second branch comprises second connector, second input component and three kinematic pairs, and described three kinematic pairs are respectively: be connected in first revolute pair between described second connector and the fixed platform, be connected in the moving sets between described second connector and second input component and be connected in described second input component and described first connector between second revolute pair; Described the 3rd branch comprises the 3rd connector, the 3rd input component and three kinematic pairs, described three kinematic pairs are respectively: be connected in ball pivot or Hooke's hinge between described the 3rd connector and the fixed platform, be connected in the moving sets between described the 3rd connector and the 3rd input component, and be connected in Hooke's hinge or ball pivot between described the 3rd input component and the moving platform; Wherein, the moving sets in described three branches drives; First revolute pair in described first branch is vertical with the axis of second revolute pair, and is parallel with the axis of two revolute pairs in second branch; And the track of the center of rotation of moving platform is a point.
4. structure as claimed in claim 4 is characterized in that, described moving platform is the support that comprises that a plurality of rod members are formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100798383A CN101497167B (en) | 2009-03-13 | 2009-03-13 | Parallel type three-shaft mainshaft head structure without accompanied movement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100798383A CN101497167B (en) | 2009-03-13 | 2009-03-13 | Parallel type three-shaft mainshaft head structure without accompanied movement |
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| Publication Number | Publication Date |
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| CN101497167A CN101497167A (en) | 2009-08-05 |
| CN101497167B true CN101497167B (en) | 2010-11-03 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079054B (en) * | 2011-01-28 | 2012-10-17 | 浙江大学 | Device for measuring precision of numerically-controlled machine tool |
| CN102626870B (en) * | 2012-05-03 | 2013-12-11 | 清华大学 | Three-DOF (Degree of Freedom) parallel spindle head with single-DOF hinge |
| CN102962840B (en) * | 2012-11-09 | 2014-12-24 | 燕山大学 | Parallel mechanism with symmetric structure and without associated movement |
| CN102962837B (en) * | 2012-11-09 | 2014-11-12 | 燕山大学 | Easy-to-control symmetric parallel mechanism with two rotating pairs and one moving pair |
| CN102922515A (en) * | 2012-11-12 | 2013-02-13 | 天津理工大学 | Two-rotation one-movement parallel mechanism capable of realizing motion decoupling |
| CN103273356B (en) * | 2013-04-28 | 2015-09-30 | 清华大学 | A kind of multi-axes synchronous hybrid device based on four-freedom parallel mechanism |
| CN103753235B (en) * | 2014-01-03 | 2016-09-21 | 清华大学 | A kind of multi-axis linkages based on parallel module |
| CN106623993A (en) * | 2016-11-30 | 2017-05-10 | 长春理工大学 | Three-freedom-degree parallel spindle head mechanism suitable for horizontal machining |
| CN113021303B (en) * | 2021-03-01 | 2022-08-09 | 清华大学 | Four-degree-of-freedom parallel mechanism and industrial robot |
| CN113385955B (en) * | 2021-07-12 | 2022-09-06 | 江苏开璇智能科技有限公司 | Triple harmonic five-axis series-parallel swing head |
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