CN113385955B - Triple harmonic five-axis series-parallel swing head - Google Patents
Triple harmonic five-axis series-parallel swing head Download PDFInfo
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- CN113385955B CN113385955B CN202110783842.9A CN202110783842A CN113385955B CN 113385955 B CN113385955 B CN 113385955B CN 202110783842 A CN202110783842 A CN 202110783842A CN 113385955 B CN113385955 B CN 113385955B
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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
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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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses a triple harmonic five-axis series-parallel pendulum head, which comprises: a fixing member; the transverse swinging piece comprises a first third harmonic integrated machine and a transverse swinging seat; a longitudinal oscillating member including a second third harmonic unitary machine and a longitudinal follower; a spindle member including an electric spindle connected to the longitudinal follower; wherein: the first third harmonic all-in-one machine drives the electric spindle to transversely swing through the transverse swing seat and the longitudinal follower, and meanwhile, the second third harmonic all-in-one machine drives the electric spindle to longitudinally swing through the longitudinal follower, so that a tool bit on the electric spindle moves in space. The invention has the advantages of simple structure, high rigidity, small volume, light weight, large output torque, high output precision, large bearing capacity, low inertia, high-speed processing capacity, and low manufacturing cost and maintenance cost.
Description
Technical Field
The invention relates to the technical field of machine tool accessories, in particular to a triple harmonic five-axis series-parallel pendulum head.
Background
The five-axis linkage machining swinging head is a tail end executing element in a high-end machine tool, and can drive a machining tool bit at the tail end to realize a relatively complex motion track, so that some parts with complex surface characteristics can be precisely machined. At present, five-axis linkage machining swinging heads mainly have two forms in terms of structural composition, namely: 2 rotary driving sources are used, the axes of the two driving sources are orthogonal to each other, and the two shafts can be regarded as CA swing heads which are connected in series structurally; 3 linear driving sources are used, and the 3 linear driving sources can be structurally considered as linkage swinging heads which are mutually connected in parallel. Wherein use 2 rotary drive sources, and two driving source axis mutual quadrature, the diaxon can be regarded as the CA yaw of mutual series connection structurally, its C axle is fixed on lathe Z axle, the A axle links to each other with electric main shaft, the motion of C axle and A axle is independent each other, can a joint be fixed when processing, a joint motion, also can two joints link together, the yaw of this form generally uses on vertical lathe, compact structure has, the wide and nimble of processing angle scope, the machining precision is high, 2 joints are mutually decoupled in the control, control system is ripe, but its shortcoming is as follows: firstly, as the motion error of the serial mechanism is the result of the superposition of the errors of each joint connecting piece, the precision of the serial mechanism to reach the high-precision output of the tail end has extremely high requirements on the precision of parts and driving devices at each joint position, and the cost is very high; secondly, due to the structural particularity of the serial joints, in order to ensure good rigidity of the whole machine, high-rigidity castings are generally adopted for supporting pieces of single joints, so that the single joints are heavy in weight and large in inertia, high-speed movement operation of the serial joints cannot be generally carried out, and high-speed machining performance of the serial joints is limited; thirdly, the internal structure is complex, the requirements for manufacturing and assembling processes are high, and once collision or cutter collision accidents occur, the maintenance is complex, so that the overall use cost is high. Use 3 sharp driving source, and 3 sharp driving source structural linkage yaw that can see mutual parallel, its 3 rectilinear motion structure one end activity hinges are fixed on the base, one end activity hinge is fixed on the output dish, 3 rectilinear motion structure becomes the circumference equipartition, the flexible attitude change that realizes terminal motion dish through the linkage of 3 poles of control, and then the processing to complicated processing element is carried out to the attitude and the spatial position change of the terminal tool bit of driving electric spindle, its advantage for series connection structure is as follows: the structure is simpler than a series mechanism, the parts and components of the whole machine are fewer, the components are highly modularized, general components are generally adopted, and the assembly and the maintenance are easy; the rigidity-mass ratio of the connecting rod is better than that of a series mechanism, under the same self-mass, the structural branched chains are jointly and simultaneously loaded, the connecting rod can bear larger load than that of the series mechanism, and a parallel closed loop rod system structure is adopted, and under the static balance condition, the traditional member can be theoretically regarded as a two-force rod only pulling and pressing load, so that the rigidity of the rod piece is effectively utilized, and the connecting rod has high bearing capacity; the inertia of the moving part is low, and the method is suitable for high-speed processing; each branched chain can play a role in error homogenization and improve the processing precision; compared with a series structure, the passive joint position which is easy to wear is a standard component, is easy to replace, and has much lower use and maintenance cost than a series machine tool. However, the parallel mechanism also has the following disadvantages: firstly, the track analysis of the parallel mechanism is complex, the working space is small, the theory and the application are far from mature, the superiority of the parallel mechanism cannot be reflected in the actual use, and the popularization and the production cannot be realized; secondly, the processing head of the parallel mechanism is applied to experimental research at present, and the processing head of the parallel structure in the market lacks in the market of mechanical products due to improper design and insufficient rigidity; third, the conventional mechanical control system is generally designed for a serial mechanism, and a controller suitable for a parallel structure machining head is not completely mature.
Disclosure of Invention
In order to overcome the defects, the invention provides a triple harmonic five-axis series-parallel pendulum head, which specifically adopts the following technical scheme:
a triple harmonic five-axis series-parallel pendulum head comprises:
a fixing member;
the transverse swinging piece is arranged on the fixing piece and comprises a first third harmonic integrated machine and a transverse swinging seat, the first third harmonic integrated machine is connected to the fixing piece, and the transverse swinging seat is connected to the first third harmonic integrated machine;
a longitudinal oscillating member disposed on the stationary member, the longitudinal oscillating member including a second third harmonic all-in-one machine and a longitudinal follower, the second third harmonic all-in-one machine being coupled to the stationary member, the longitudinal follower being coupled to the second third harmonic all-in-one machine, and the longitudinal follower being coupled to the transverse oscillating base;
a main shaft member disposed on the longitudinal oscillating member, the main shaft member including an electric main shaft connected to the longitudinal follower;
wherein: the first third harmonic all-in-one machine drives the electric spindle to transversely swing through the transverse swing seat and the longitudinal follower, and meanwhile, the second third harmonic all-in-one machine drives the electric spindle to longitudinally swing through the longitudinal follower, so that a tool bit on the electric spindle moves in space.
Preferably, the fixing part comprises a fixing base and a first flange, the first flange is fixedly arranged at one end of the fixing base, and the fixing base is connected to the machine tool through the first flange.
Preferably, the transverse swinging member further comprises a first driving member and a first driven member; the first third harmonic all-in-one machine is fixedly embedded on the fixed base; the first driving part comprises a first driving flange and a first driving shaft, the first driving flange is arranged at the output end of the first third harmonic all-in-one machine, and one end of the first driving shaft is vertically and fixedly arranged at the center of the first driving flange.
Preferably, the first follower comprises a first driven seat and a first follower, the first driven seat is arranged on the fixed base, the first follower is arranged on the first driven seat, and the first driven seat axis is coincident with the first third harmonic all-in-one machine axis; the first follower comprises a first follower bearing and a first follower shaft, the first follower bearing is embedded in a bearing chamber of the first follower seat, and one end of the first follower shaft is embedded in the first follower bearing; and the side wall of the transverse swinging seat is respectively connected to the other end of the first driving shaft and the other end of the first follow-up shaft.
Preferably, the second third harmonic all-in-one machine is fixedly embedded on the fixed base; the longitudinal swinging piece further comprises a longitudinal transmission piece, and the longitudinal transmission piece is arranged on the second third harmonic integrated machine; the longitudinal transmission part comprises a second driving part, a first longitudinal transmission rod, a second follower and a second longitudinal transmission rod, the second driving part is arranged on the second third harmonic integrated machine, the first longitudinal transmission rod is arranged on the second driving part, the second follower is arranged on the first longitudinal transmission rod, and the second longitudinal transmission rod is arranged on the second follower; the second driving part comprises a second driving flange and a second driving shaft, the second driving flange is connected to the output end of the second triple harmonic all-in-one machine, and one end of the second driving shaft is vertically and fixedly arranged on the second driving flange; the first longitudinal transmission rod is in an angle rod shape, and one end of the first longitudinal transmission rod is connected to the other end of the second driving shaft.
Preferably, the second follower comprises a second follower shaft and a second follower bearing, and one end of the second follower shaft is connected to the other end of the first longitudinal transmission rod; the second follow-up bearing is sleeved on the other end of the second follow-up shaft; the second longitudinal transmission rod is in a rectangular groove shape, and is sleeved on the second follow-up bearing through a first longitudinal bearing chamber arranged in the center.
Preferably, the longitudinal follower comprises a third follower provided on the transversal oscillating seat and on the second longitudinal transmission bar, and a movable base provided on the third follower; the third follower is provided with four sets of third follower shafts and third follower bearings, wherein one ends of two third follower shafts are symmetrically connected to the transverse swinging seat, and one ends of the other two third follower shafts are respectively connected to two ends of the second longitudinal transmission rod; the number of the third follow-up bearings is four, and the four third follow-up bearings are sleeved at the other ends of the four third follow-up shafts one by one correspondingly.
Preferably, the center of the movable base is provided with an installation through hole; a lifting lug is arranged on one end face of the movable base, and a second longitudinal bearing chamber is arranged on the lifting lug; the four lifting lugs are uniformly distributed around the axis of the movable base; the movable base is sleeved on the four third follow-up bearings through the four second longitudinal bearing chambers one by one.
Preferably, the main shaft element further comprises a first protective cover and a second protective cover, the first protective cover is arranged on the movable base, and the second protective cover is arranged on the fixed base; the electric spindle is arranged in the mounting through hole; a first main shaft through hole is formed in the center of the first protective cover, the first protective cover is fastened on the movable base, the first main shaft through hole is sleeved outside the electric main shaft, and the circle center of the first protective cover coincides with the circle center of the transverse swinging seat; the center of the second protective cover is provided with a small semispherical surface, the inner diameter of the small semispherical surface is not smaller than the radius of the first protective cover, a second main shaft through hole is formed in the center of the small semispherical surface, the second protective cover is fastened to the other end of the fixed base, the second main shaft through hole is sleeved outside the electric main shaft, and meanwhile, the circle center of the small semispherical surface coincides with the circle center of the transverse swinging seat.
Preferably, a first sealing ring is arranged between the first protective cover and the movable base, and a second sealing ring is arranged between the second protective cover and the fixed base; a first star ring and a second star ring are arranged in front of the small semispherical surface and the first protective cover, and the first star ring and the second star ring are respectively positioned at the upper and lower grooves.
The invention at least comprises the following beneficial effects:
1) the triple harmonic five-axis series-parallel pendulum head has the advantages of simple structure, high rigidity, small volume, light weight, large output torque, high output precision, large bearing capacity, low inertia, high-speed processing capacity, and low manufacturing cost and maintenance cost;
2) the triple-harmonic five-axis hybrid pendulum head is provided with a fixing piece, a transverse swinging piece, a longitudinal swinging piece and a main shaft piece, wherein the transverse swinging piece comprises a first triple-harmonic integrated machine, a first driving piece, a first driven piece and a transverse swinging seat; the longitudinal swinging piece comprises a second third harmonic integrated machine, a longitudinal transmission piece, a third follower and a movable base, wherein the movable base is connected to the transverse swinging seat and the longitudinal transmission piece through a plurality of third followers, so that the movable base is driven by the second third harmonic integrated machine to swing longitudinally and also driven by the transverse swinging seat to swing transversely, and finally the movable base drives the electric spindle to move in space for cutting, so that the structural complexity, the volume, the weight, the manufacturing and maintenance cost are effectively reduced, and the structural rigidity, the output torque, the output precision, the bearing capacity and the high-speed processing capacity are effectively improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a front view of a triple harmonic five-axis series-parallel yaw of the present invention;
FIG. 2 is a front view of the rear end of a triple harmonic five-axis series-parallel head according to the present invention;
FIG. 3 is a front view of a triple harmonic five-axis series-parallel head according to the present invention;
FIG. 4 is a schematic view of a three-harmonic five-axis series-parallel pendulum front end perspective structure of the present invention;
FIG. 5 is a schematic view of a first three-dimensional structure at the rear end of a triple harmonic five-axis series-parallel head according to the present invention;
FIG. 6 is a schematic diagram of a second three-dimensional structure of the rear end of the triple harmonic five-axis series-parallel head according to the present invention;
FIG. 7 is a front view of a section in the direction A-A in FIG. 1 of the triple harmonic five-axis series-parallel yaw of the present invention;
FIG. 8 is a partial enlarged view of C in the triple harmonic five-axis series-parallel yaw coating 7 of the present invention;
FIG. 9 is a schematic view of a three-harmonic five-axis series-parallel head of the present invention in a three-dimensional structure in a section along the direction A-A in FIG. 1;
FIG. 10 is a front view of a section in the direction B-B in FIG. 2 of the triple harmonic five-axis series-parallel yaw of the present invention;
FIG. 11 is a schematic view of a first three-dimensional structure of a section in the direction B-B in FIG. 2 of the triple harmonic five-axis series-parallel yaw according to the present invention;
FIG. 12 is a second schematic perspective view of a section in the direction B-B in FIG. 2 of the triple harmonic five-axis series-parallel yaw according to the present invention;
FIG. 13 is a schematic diagram of a triple harmonic five-axis series-parallel head-swinging transmission according to the present invention;
FIG. 14 is a schematic diagram of the spatial movement of a cutter driven by an electric spindle when a second third harmonic all-in-one machine is stationary and a first third harmonic all-in-one machine rotates in the forward direction in the third harmonic five-axis series-parallel pendulum head of the present invention;
FIG. 15 is a schematic diagram of the spatial movement of a cutter driven by an electric spindle when a second third harmonic all-in-one machine is stationary and a first third harmonic all-in-one machine rotates in the reverse direction in a third harmonic five-axis series-parallel pendulum head according to the present invention;
FIG. 16 is a schematic diagram of the spatial movement of a cutter driven by an electric spindle when a first triple harmonic all-in-one machine is static and a second triple harmonic all-in-one machine rotates in the forward direction in the triple harmonic five-axis series-parallel pendulum head according to the invention;
FIG. 17 is a schematic diagram of spatial movement of a tool driven by an electric spindle when a first triple harmonic all-in-one machine is stationary and a second triple harmonic all-in-one machine rotates in a reverse direction in the triple harmonic five-axis series-parallel pendulum head according to the present invention;
fig. 18 is a schematic diagram of the spatial movement of the tool driven by the electric spindle when the first triple harmonic all-in-one machine and the second triple harmonic all-in-one machine rotate in the same speed and opposite directions in the triple harmonic five-axis hybrid head according to the invention.
Wherein: 1-a fixed base, 2-a first flange, 3-a first third harmonic integrated machine, 4-a transverse swinging seat, 5-a first driving flange, 6-a first driving shaft, 7-a first driven seat, 8-a first follow-up bearing, 9-a first follow-up shaft, 10-a second third harmonic integrated machine, 11-a first longitudinal transmission rod, 12-a second longitudinal transmission rod, 13-a second driving flange, 14-a second driving shaft, 15-a second follow-up shaft, 16-a second follow-up bearing, 17-a movable base, 18-a third follow-up shaft, 19-a third follow-up bearing, 20-a lifting lug, 21-an electric main shaft, 22-a first protective cover, 23-a second protective cover, 24-a first sealing ring and 26-a first star ring, 27-a second star-shaped ring, 28-a first transition plate, 29-a second transition plate and 30-a cutter.
Detailed Description
Technical solutions of the present invention will be described in detail below by way of embodiments with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.
According to the drawings of fig. 1-12, a triple-harmonic five-axis hybrid pendulum head comprises a fixed part, a transverse oscillating part, a longitudinal oscillating part and a main shaft part, wherein the transverse oscillating part and the longitudinal oscillating part are arranged on the fixed part, the longitudinal oscillating part is connected with the transverse oscillating part, and the main shaft part is arranged on the longitudinal oscillating part. The fixing piece comprises a fixing base 1 and a first flange 2, wherein the first flange 2 is arranged on the fixing base 1. Fixed baseplate 1 is the tubulose, be provided with first transverse penetration hole, second transverse penetration hole and first longitudinal through hole on the fixed baseplate 1 lateral wall, first transverse penetration hole axis with the coincidence of second transverse penetration hole axis, simultaneously first transverse penetration hole axis with first longitudinal through hole axis quadrature. The first transverse through hole and the second transverse through hole are used for fixing the transverse swinging piece, and the first longitudinal through hole is used for fixing the longitudinal swinging piece. The first flange 2 is fixedly arranged at one end of the fixed base 1, and the triple harmonic five-axis series-parallel swinging head is fixedly connected to a machine tool through the first flange 2.
The transversely-swinging part comprises a first third harmonic integrated machine 3, a first driving part, a first driven part and a transversely-swinging seat 4, the first third harmonic integrated machine 3 and the first driven part are all arranged on the fixed base 1, the first driving part is arranged on the first third harmonic integrated machine 3, and the transversely-swinging seat 4 is arranged on the first driving part and the first driven part. The first third harmonic integrated machine 3 is fixedly embedded in the first transverse through hole through a first transition plate 28 by using a first screw. The first driving part comprises a first driving flange 5 and a first driving shaft 6, and the first driving flange 5 is fastened on the output end of the first triple harmonic all-in-one machine 3 through a second screw. One end of the first driving shaft 6 is vertically and fixedly arranged at the center of the first driving flange 5, and the other end of the first driving shaft 6 is provided with a first key. When the first triple harmonic all-in-one machine 3 rotates, the transverse swinging seat 4 can be driven to transversely swing around the circle center of the transverse swinging seat 4 through the first driving flange 5 and the first driving shaft 6. The first follower comprises a first driven seat 7 and a first follower, the first driven seat 7 is arranged on the fixed base 1, and the first follower is arranged on the first driven seat 7. The first driven seat 7 is embedded in the second transverse through hole through a third screw. The first follower comprises a first follower bearing 8 and a first follower shaft 9, the first follower bearing 8 is arranged on the first follower seat 7, and the first follower shaft 9 is arranged on the first follower bearing 8. The first follower bearing 8 is fitted into the bearing chamber of the first driven holder 7, and a first bearing plate is fastened to an end portion of the bearing chamber of the first driven holder 7 by a fourth screw so as to prevent the first follower bearing 8 from being axially displaced. Further, the first follower bearing 8 is a double-row BD type angular contact bearing. One end of the first follow-up shaft 9 is embedded in the first follow-up bearing 8, a first shaft snap spring is sleeved on one end of the first follow-up shaft 9 to prevent the first follow-up shaft 9 from axially moving, and a second key is arranged at the other end of the first follow-up shaft 9. The transverse swinging seat 4 is tubular, a third transverse through hole, a fourth transverse through hole, a second longitudinal through hole and a third longitudinal through hole are formed in the transverse swinging seat 4, the axis of the third transverse through hole is overlapped with the axis of the fourth transverse through hole, and the axis of the second longitudinal through hole is overlapped with the axis of the third longitudinal through hole. A first key groove is formed in the third transverse through hole, and a second key groove is formed in the fourth transverse through hole. The transverse swinging seat 4 is correspondingly sleeved on the other end of the first driving shaft 6 and the other end of the first follow-up shaft 9 through the third transverse through hole and the fourth transverse through hole respectively, and meanwhile, the first key groove is matched with the first key, and the second key groove is matched with the second key. The first driving part and the first driven part can provide two-point support for the transverse swinging seat 4 in the transverse swinging process so as to improve the transverse swinging bearing capacity and the low inertia characteristic of the transverse swinging seat 4. And a third key groove is formed in the second longitudinal through hole, and a fourth key groove is formed in the third longitudinal through hole.
The longitudinal swinging piece comprises a second third harmonic integrated machine 10, a longitudinal transmission piece and a longitudinal follower, the second third harmonic integrated machine 10 is arranged on the fixed base 1, the longitudinal transmission piece is arranged on the second third harmonic integrated machine 10, and the longitudinal follower is arranged on the longitudinal transmission piece. The second third harmonic integrated machine 10 is fixedly embedded in the first longitudinal through hole through a second transition plate 29. The longitudinal transmission part comprises a second driving part, a first longitudinal transmission rod 11, a second follower and a second longitudinal transmission rod 12, the second driving part is arranged on the second triple harmonic integrated machine 10, the first longitudinal transmission rod 11 is arranged on the second driving part, the second follower is arranged on the first longitudinal transmission rod 11, and the second longitudinal transmission rod 12 is arranged on the second follower. The second driving part comprises a second driving flange 13 and a second driving shaft 14, the second driving flange 13 is fastened on the output end of the second triple-harmonic integrated machine 10 through a fifth screw, one end of the second driving shaft 14 is vertically and fixedly arranged at the center of the second driving flange 13, and a third key is arranged at the other end of the second driving shaft 14. The first longitudinal transmission rod 11 is in a right-angle rod shape, a fourth longitudinal through hole is formed in one end of the first longitudinal transmission rod 11, a fifth longitudinal through hole is formed in the other end of the first longitudinal transmission rod 11, a fifth key groove is formed in the fourth longitudinal through hole, a sixth key groove is formed in the fifth longitudinal through hole, the first longitudinal transmission rod 11 is sleeved on the other end of the second driving shaft 14 through the fourth longitudinal through hole, and the fifth key groove is matched with the third key.
The second follower comprises a second follower shaft 15 and a second follower bearing 16, the second follower shaft 15 being arranged on the first longitudinal drive rod 11, the second follower bearing 16 being arranged on the second follower shaft 15. A fourth key is arranged at one end of the second follow-up shaft 15, one end of the second follow-up shaft 15 is embedded in the fifth longitudinal through hole, and the fourth key is matched with the sixth key groove. The second follower bearing 16 is sleeved on the other end of the second follower shaft 15, and a second shaft snap spring is arranged on the other end of the second follower shaft 15 to prevent the second follower shaft 15 from axially displacing. Further, the second follower bearing 16 is a double-row BD type angular contact bearing. The second longitudinal transmission rod 12 is in a rectangular groove shape, a first longitudinal bearing chamber is arranged at the bottom of the second longitudinal transmission rod 12, a fourteenth longitudinal through hole and a fifteenth longitudinal through hole are respectively arranged at two ends of the second longitudinal transmission rod 12, a seventh key groove is arranged in the fourteenth longitudinal through hole, and an eighth key groove is arranged in the fifteenth longitudinal through hole. The second longitudinal transmission rod 12 is sleeved on the second follow-up bearing 16 through the first longitudinal bearing chamber, and the connection mode of the first longitudinal bearing chamber and the second follow-up bearing 16 is the same as the connection mode of the bearing chamber of the first driven seat 7 and the first follow-up bearing 8.
The longitudinal followers comprise a third follower arranged on the traversing oscillation seat 4 and on the second longitudinal transmission bar 12, and a movable base 17 arranged on the third follower. The third follower is provided with four sets, the third follower comprises a third follower shaft 18 and a third follower bearing 19, one end of the third follower shaft 18 is provided with a fifth key, wherein one ends of the two third follower shafts 18 are respectively embedded in a second longitudinal through hole and a third longitudinal through hole, and the fifth keys on the two third follower shafts 18 are respectively matched with a ninth key slot and a tenth key slot in the second longitudinal through hole and the third longitudinal through hole. One ends of the other two third follower shafts 18 are respectively embedded in the fourteenth longitudinal through hole and the fifteenth longitudinal through hole, and the fifth keys on the other two third follower shafts 18 are respectively matched with the seventh key groove and the eighth key groove. The number of the third follow-up bearings 19 is four, and the four third follow-up bearings 19 are sleeved on the other ends of the four third follow-up shafts 18 one by one correspondingly.
An installation through hole is formed in the center of the movable base 17 and used for installing the main shaft element. A lifting lug 20 is arranged on one end face of the movable base 17, and a second longitudinal bearing chamber is arranged on the lifting lug 20. The lifting lugs 20 are four, and the four lifting lugs 20 are uniformly distributed around the axis of the movable base 17. The movable base 17 is sleeved on the four third follow-up bearings 19 through the four second longitudinal bearing chambers one by one, and the connection mode of the second longitudinal bearing chambers and the third follow-up bearings 19 is the same as the connection mode of the bearing chambers of the first driven seat 7 and the first follow-up bearings 8. So that the axis of the movable base 17 can be respectively driven by the transverse swinging piece and the longitudinal swinging piece to change the angle around the center of the transverse swinging seat 4.
The main shaft part comprises an electric main shaft 21, a first protective cover 22 and a second protective cover 23, the electric main shaft 21 and the first protective cover 22 are arranged on the movable base 17, and the second protective cover 23 is arranged on the fixed base 1. The electric spindle 21 is provided with a cutter 30, and the electric spindle 21 is embedded in the mounting through hole through a sixth screw. The first protection cover 22 is in a shape of a small hemisphere, and a first main shaft through hole is formed in the center of the first protection cover 22. The first protection cover 22 is fastened on the movable base 17 through a seventh screw, the first spindle penetrating hole is sleeved outside the electric spindle 21, meanwhile, a first sealing ring 24 is arranged between the first protection cover 22 and the movable base 17, and the first sealing ring 24 can improve the sealing performance between the first protection cover 22 and the movable base 17.
The circle center of the first protection cover 22 coincides with the circle center of the transverse swinging seat 4. The central part of the second protective cover 23 is provided with a small semispherical surface, the inner diameter of the small semispherical surface is not smaller than the radius of the first protective cover 22, and a second main shaft through hole is formed in the center of the small semispherical surface. The second protection cover 23 is fastened to the other end of the fixing base 1 through an eighth screw, a second sealing ring is arranged between the second protection cover 23 and the fixing base 1, the second spindle penetrating hole is sleeved outside the electric spindle 21, and meanwhile, the circle center of the small semispherical surface is overlapped with the circle center of the transverse swinging base 4. A first star ring 26 and a second star ring 27 are arranged in front of the small semispherical surface and the first protective cover 22, the first star ring 26 and the second star ring 27 are respectively positioned at the upper and lower grooves, and the first star ring 26 and the second star ring 27 can meet the requirement that the first protective cover 22 slides in the small semispherical surface in a sealing connection.
The principle of the triple harmonic five-axis hybrid head is shown in fig. 13, the input axis is a axis a and an axis E, the output part is a movable base 17 in the middle, in spatial distribution, the My axis and the Mz axis are orthogonal to the central point O of the movable platform, the connecting line of the point O and the point B forms the Mx axis, B, C, D, F is a movable hinge, the axes a and E are connected with the connecting rod as a fixed hinge, when the My axis and the Mz axis rotate a certain angle, the end of a vector ix (square upward) in the same direction with the Mx axis can be regarded as moving on a spherical surface with the point O as the spherical center and the mode of the vector ix as the radius, furthermore, in practice, if ix is replaced by the electric main axis 21, when the a axis and the E axis rotate synchronously, the point of the electric main axis 21 can also be regarded as moving on a spherical surface with the point O as the spherical center and the linear length from the point O to the point as the radius, and further arranged on the machine tool to be linked with the XYZ axis, and the machining effect of five-axis linkage can be realized. The three-harmonic five-axis hybrid pendulum head is different from the traditional situation that the motions of 3 degrees of freedom of a parallel machining head are mutually coupled and the situation that two rotary motions of a traditional CA pendulum head are connected in series and completely independent from each other.
The third harmonic speed reduction all-in-one machine is selected from an input power source, the third harmonic speed reduction all-in-one machine has the advantages of small volume, light weight, high output torque which can reach thousands of newton meters, high output rigidity, high output precision which can reach several arc seconds, and mature control theory and drive equipment relative to the linear motion control of a parallel mechanism; the transverse swinging seat 4 and the movable base 17 both adopt a double-point supporting mode and a closed-loop rod system structure, so that the rigidity of the whole machine can be comparable to that of a parallel structure, and the transverse swinging seat has the advantages of high bearing capacity and low inertia compared with a series structure with the same weight and also has high-speed processing capacity; the electric spindle 21 can complete the motion planning of higher speed and higher acceleration on the movable base 17, and is suitable for various high-speed motion operations; the positions of the passive joints which are easy to wear are all standard parts, and the main parts are not influenced by factors such as friction, collision and the like, so that the manufacturing cost and the maintenance cost are very low. The input of the Mz axis and the input of the My axis of the structure are mutually independent, the motions of two degrees of freedom are not mutually coupled, for example, in the figures 14 and 15, the Mz axis is fixed, the My axis rotates, and the My axis moves symmetrically relative to the central axis; FIG. 16 and FIG. 17 show the fixed My axis rotating the Mz axis, the Mz axis having a symmetrical motion angle with respect to the central axis; fig. 18 is a motion turntable with Mz and My axes linked, it can be seen that two inputs of the structure are decoupled from each other and do not affect each other, and the trajectory of the tool nose can be essentially seen as being on a spherical surface with O point as the center of the sphere relative to the whole machine, so that the motion trajectory of the tool nose can be conveniently solved forwards and backwards by using a spherical coordinate system, the trajectory analysis is simple, and the motion turntable has obvious advantages in control relative to the traditional serial CA axis and parallel head; the swing angle of the cutter head of the structure is obviously increased relative to the parallel structure, and the working space of the cutter head is also obviously increased.
While embodiments of the invention have been described above, it is not intended to be limited to the details shown, described and illustrated herein, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed, and to such extent that such modifications are readily available to those skilled in the art, and it is not intended to be limited to the details shown and described herein without departing from the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A triple harmonic five-axis series-parallel pendulum head is characterized by comprising:
a fixing member;
the transverse swinging piece is arranged on the fixing piece and comprises a first third harmonic integrated machine and a transverse swinging seat, the first third harmonic integrated machine is connected to the fixing piece, and the transverse swinging seat is connected to the first third harmonic integrated machine;
a longitudinal oscillating member disposed on the stationary member, the longitudinal oscillating member including a second third harmonic all-in-one machine and a longitudinal follower, the second third harmonic all-in-one machine being coupled to the stationary member, the longitudinal follower being coupled to the second third harmonic all-in-one machine, and the longitudinal follower being coupled to the transverse oscillating base;
a main shaft member disposed on the longitudinal oscillating member, the main shaft member including an electric main shaft connected to the longitudinal follower;
wherein: the first third harmonic integrated machine drives the electric spindle to transversely swing through the transverse swing seat and the longitudinal follower, and meanwhile, the second third harmonic integrated machine drives the electric spindle to longitudinally swing through the longitudinal follower, so that a tool bit on the electric spindle moves in space;
the longitudinal swinging piece further comprises a longitudinal transmission piece, the longitudinal transmission piece comprises a second driving piece, a first longitudinal transmission rod, a second follower and a second longitudinal transmission rod, the second driving piece is arranged on the second third harmonic integrated machine, the first longitudinal transmission rod is arranged on the second driving piece, the second follower is arranged on the first longitudinal transmission rod, and the second longitudinal transmission rod is arranged on the second follower; the second driving part comprises a second driving flange and a second driving shaft, the second driving flange is connected to the output end of the second third harmonic all-in-one machine, and one end of the second driving shaft is vertically and fixedly arranged on the second driving flange; the first longitudinal transmission rod is in an angle rod shape, and one end of the first longitudinal transmission rod is connected to the other end of the second driving shaft.
2. The triple harmonic five-axis series-parallel pendulum head according to claim 1, wherein the fixing member comprises a fixing base and a first flange, the first flange is fixedly arranged at one end of the fixing base, and the fixing base is connected to a machine tool through the first flange.
3. The triple harmonic five-axis series-parallel pendulum according to claim 2 wherein the transverse pendulum further comprises a first driving member and a first driven member; the first third harmonic all-in-one machine is fixedly embedded on the fixed base; the first driving part comprises a first driving flange and a first driving shaft, the first driving flange is arranged at the output end of the first third harmonic all-in-one machine, and one end of the first driving shaft is vertically and fixedly arranged at the center of the first driving flange.
4. A triple harmonic five-axis series-parallel head according to claim 3 wherein the first follower comprises a first driven mount and a first follower, the first driven mount is disposed on the fixed base, the first follower is disposed on the first driven mount, and the first driven mount axis is coincident with the first triple harmonic all-in-one axis; the first follower comprises a first follower bearing and a first follower shaft, the first follower bearing is embedded in a bearing chamber of the first follower seat, and one end of the first follower shaft is embedded in the first follower bearing; and the side wall of the transverse swinging seat is respectively connected to the other end of the first driving shaft and the other end of the first follow-up shaft.
5. The triple harmonic five-axis hybrid yaw according to any one of claims 2 to 4, wherein the second triple harmonic all-in-one machine is fixedly embedded on the fixed base.
6. A triple harmonic five-axis series-parallel head according to claim 5 wherein the second follower comprises a second follower shaft and a second follower bearing, the second follower shaft having one end connected to the other end of the first trailing link; the second follow-up bearing is sleeved on the other end of the second follow-up shaft; the second longitudinal transmission rod is in a rectangular groove shape, and the second longitudinal transmission rod is sleeved on the second follow-up bearing through a first longitudinal bearing chamber arranged at the center.
7. The triple harmonic five-axis series-parallel yaw according to claim 5 wherein the longitudinal follower includes a third follower disposed on the yaw deck and the second longitudinal drive link and a movable base disposed on the third follower; the third follower is provided with four sets of third follower shafts and third follower bearings, wherein one ends of two third follower shafts are symmetrically connected to the transverse swinging seat, and one ends of the other two third follower shafts are respectively connected to two ends of the second longitudinal transmission rod; the number of the third follow-up bearings is four, and the four third follow-up bearings are sleeved on the other ends of the four third follow-up shafts one by one correspondingly.
8. The triple harmonic five-axis series-parallel pendulum head according to claim 7, wherein a mounting through hole is formed in the center of the movable base; a lifting lug is arranged on one end face of the movable base, and a second longitudinal bearing chamber is arranged on the lifting lug; the four lifting lugs are uniformly distributed around the axis of the movable base; the movable base is sleeved on the four third follow-up bearings through the four second longitudinal bearing chambers one by one correspondingly.
9. The triple harmonic five-axis series-parallel yaw head according to claim 8, wherein the main shaft element further comprises a first shield and a second shield, the first shield being disposed on the movable base, the second shield being disposed on the fixed base; the electric spindle is arranged in the mounting through hole; a first main shaft through hole is formed in the center of the first protective cover, the first protective cover is fastened on the movable base, the first main shaft through hole is sleeved outside the electric main shaft, and meanwhile, the circle center of the first protective cover is overlapped with that of the transverse swinging seat; the center of the second protective cover is provided with a small semispherical surface, the inner diameter of the small semispherical surface is not smaller than the radius of the first protective cover, a second main shaft through hole is formed in the center of the small semispherical surface, the second protective cover is fastened to the other end of the fixed base, the second main shaft through hole is sleeved outside the electric main shaft, and meanwhile, the circle center of the small semispherical surface coincides with the circle center of the transverse swinging seat.
10. The triple harmonic five-axis series-parallel pendulum head according to claim 9, wherein a first seal ring is disposed between the first shield and the movable base, and a second seal ring is disposed between the second shield and the fixed base; a first star-shaped ring and a second star-shaped ring are arranged in front of the small semispherical surface and the first protective cover.
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| CN202110783842.9A CN113385955B (en) | 2021-07-12 | 2021-07-12 | Triple harmonic five-axis series-parallel swing head |
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| CN202110783842.9A CN113385955B (en) | 2021-07-12 | 2021-07-12 | Triple harmonic five-axis series-parallel swing head |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000025976A2 (en) * | 1998-10-21 | 2000-05-11 | Ds Technologie Werkzeugmaschinenbau Gmbh | Articulated tool head |
| US6431802B1 (en) * | 1998-11-03 | 2002-08-13 | Ds Technologie Werkzeugmaschinenbau Gmbh | Articulated tool head |
| CN101497167A (en) * | 2009-03-13 | 2009-08-05 | 清华大学 | Parallel type three-shaft mainshaft head structure without accompanied movement |
| CN108747436A (en) * | 2018-07-20 | 2018-11-06 | 科德数控股份有限公司 | A kind of cradle turntable of ball-screw dragging |
| CN208083860U (en) * | 2018-02-08 | 2018-11-13 | 钦州学院 | Teaching type five-axle number control machine tool |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8151660B2 (en) * | 2007-02-23 | 2012-04-10 | RPY Motion, Inc. | Three axes rotational motion-positioning apparatus |
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2021
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000025976A2 (en) * | 1998-10-21 | 2000-05-11 | Ds Technologie Werkzeugmaschinenbau Gmbh | Articulated tool head |
| US6431802B1 (en) * | 1998-11-03 | 2002-08-13 | Ds Technologie Werkzeugmaschinenbau Gmbh | Articulated tool head |
| CN101497167A (en) * | 2009-03-13 | 2009-08-05 | 清华大学 | Parallel type three-shaft mainshaft head structure without accompanied movement |
| CN208083860U (en) * | 2018-02-08 | 2018-11-13 | 钦州学院 | Teaching type five-axle number control machine tool |
| CN108747436A (en) * | 2018-07-20 | 2018-11-06 | 科德数控股份有限公司 | A kind of cradle turntable of ball-screw dragging |
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