CN208913830U - A kind of accurate milling forming machine tool based on parallel tool system - Google Patents
A kind of accurate milling forming machine tool based on parallel tool system Download PDFInfo
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- CN208913830U CN208913830U CN201821775070.4U CN201821775070U CN208913830U CN 208913830 U CN208913830 U CN 208913830U CN 201821775070 U CN201821775070 U CN 201821775070U CN 208913830 U CN208913830 U CN 208913830U
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Abstract
The utility model relates to a kind of accurate milling forming machine tool based on parallel tool system, belongs to mechanical manufacturing field.Column is bolted to connection respectively on four angles of lathe bed, workbench is fixedly connected on lathe bed by screw, two y direction guiding rails are bolted to connection four the upper end of the column in arranged on left and right sides respectively, x direction guiding rail is bolted to connection on the slide unit of y direction guiding rail, z direction guiding rail and self-locking device are bolted to connection on the slide unit of x direction guiding rail, polishing tool system in parallel is fixedly connected on connecting plate by bolt, and connecting plate is bolted to connection on the slide unit of z direction guiding rail.Advantage is structure novel, has redundant degree of freedom abundant, and the rigidity of structure is high, and tool path accumulated error is small, and precision is easy to ensure.And macro movement and the control of micromotion are mutually indepedent, will not lead to the problem of multiaxis interference and singular point occurs in arithmetic analysis；Largely improve precision.
Description
Technical field
The utility model belongs to mechanical manufacturing field more particularly to a kind of accurate milling forming machine tool.
Background technique
In the high-technology fields such as national defence, military project, automobile manufacture, space flight navigation, for complex-curved part
Demand is very big, but the processing technology of this kind of parts is more complicated, and difficulty of processing is big, and required precision is high, so involving great expense.Such as
What improves this kind of part processing precision, and reducing difficulty of processing is the key that solve the problems, such as.Work is needed for complex-curved processing
Having head has enough freedom degrees, at present frequently with multi-shaft interlocked milling forming machine tool, but as the number of axle increases, control
Difficulty is increasing, and between each axis of this kind of lathe be it is concatenated, track accumulated error is larger, and precision is increasingly difficult to control
System, cost are also higher and higher.Mixed connection milling forming machine tool is begun to appear in the people visual field, mixed connection milling forming machine tool pass through by
Macro movement and micromotion separately carry out, and reduce unnecessary error accumulation in movement transmitting, and more and more scholars open now
Beginning is added to this research, but realizes that the mechanism of micromotion must have enough redundant degree of freedom, rigidity.
Summary of the invention
The utility model provides a kind of accurate milling forming machine tool based on parallel tool system, existing to solve
Milling forming machine tool precision is difficult to control, the big problem of control difficulty.
The technical solution adopted in the utility model is, including x direction guiding rail, z direction guiding rail and self-locking device, y direction guiding rail, vertical
Column, lathe bed, workbench, polishing tool system in parallel, connecting plate, there are four central posts, is bolted to connection respectively
On four angles of lathe bed, workbench is fixedly connected on lathe bed by screw, and two y direction guiding rails are bolted to connection respectively
In four the upper end of the column of arranged on left and right sides, x direction guiding rail is bolted to connection on the slide unit of y direction guiding rail, z direction guiding rail and
Self-locking device is bolted to connection on the slide unit of x direction guiding rail, and polishing tool system in parallel is fixedly connected on by bolt
Connecting plate, connecting plate are bolted to connection on the slide unit of z direction guiding rail.
The x direction guiding rail includes x direction guiding rail motor, x direction guiding rail pedestal, x direction guiding rail synchronous belt, x direction guiding rail, guide x
Rail slide unit, x direction guiding rail tensioning wheel and x direction guiding rail pin shaft, wherein x direction guiding rail motor is fixedly connected on x direction guiding rail bottom by screw
In the motor cabinet of seat, x direction guiding rail is fixedly connected on x direction guiding rail pedestal by screw, and x direction guiding rail slide unit and x direction guiding rail slide
Connection, x direction guiding rail tensioning wheel are fixed on x direction guiding rail pedestal by x direction guiding rail pin shaft, and pin shaft and x direction guiding rail pedestal pass through spiral shell
Line connection, x direction guiding rail synchronous belt be wrapped on the driving wheel and x direction guiding rail tensioning wheel of x direction guiding rail motor and with x direction guiding rail slide unit
It is fixedly connected.
The y direction guiding rail includes y direction guiding rail pedestal, y direction guiding rail, y direction guiding rail slide unit, y direction guiding rail synchronous belt, guide y
Rail tensioning wheel and y direction guiding rail pin shaft, y direction guiding rail motor, the y direction guiding rail motor are fixedly connected on y direction guiding rail by screw
In the motor cabinet of pedestal, y direction guiding rail is fixedly connected on y direction guiding rail pedestal by screw, and y direction guiding rail slide unit and y direction guiding rail are sliding
Dynamic connection, y direction guiding rail tensioning wheel are fixed on y direction guiding rail pedestal by y direction guiding rail pin shaft, y direction guiding rail pin shaft and y direction guiding rail bottom
Seat be connected through a screw thread, y direction guiding rail synchronous belt be wrapped on the driving wheel and y direction guiding rail tensioning wheel of y direction guiding rail motor and with y to
Guide rail slide unit is fixedly connected.
The z direction guiding rail and self-locking device include sprocket wheel, chain, z direction guiding rail motor, ballast box, chain link block, pneumatic
Push rod, shaft coupling, z direction guiding rail slide unit, z direction guiding rail pedestal, z direction guiding rail lead screw, z direction guiding rail, z direction guiding rail lead screw mounting base, machine
Frame, two of them ballast box are connected by screw to respectively in the subsequent left and right sides of rack, and four sprocket wheels are connected by mounting base
Four angles on surface on the rack, z direction guiding rail pedestal are fixedly connected on the front end face of rack by screw, and z direction guiding rail motor is logical
Cross screw and be fixedly connected on z direction guiding rail pedestal upper surface, two z direction guiding rail lead screw mounting bases by screw be fixedly connected on z to
Guiderail base front, the bearing that z direction guiding rail lead screw passes through two lead screw mounting bases are fixed by thrust ring, shaft coupling and guide z
The main shaft of rail motor is connected with z direction guiding rail lead screw by pin, and feed screw nut and the z direction guiding rail lead screw of z direction guiding rail slide unit pass through
It is threadedly coupled, sliding block and the z direction guiding rail of z direction guiding rail slide unit are slidably connected, and two chain link blocks are connected by screw in z direction guiding rail
At left and right sides of slide unit, chain one end is connect with chain link block by pin, and the clump weight of the other end and ballast box is connected by pin
It connects, two air-legs are connected by screw at left and right sides of z direction guiding rail slide unit.
The polishing tool system in parallel includes silent flatform, Hooke's hinge, lead screw mould group, link block, claw type connector, connects
Fitting, connector, moving platform mould group, flexural pivot, are fixedly connected on silent flatform, three wherein three Hooke's hinges pass through screw respectively
Lead screw Mo Zu is bolted to connection with three Hooke's hinges respectively, and three link blocks are fixedly connected on lead screw mould group by screw
End face, two claw type connectors are fixedly connected on the link block at left and right sides of silent flatform by screw, and flexural pivot passes through spiral shell
Nail is fixedly connected on a remaining link block, and connector is fixedly connected on claw type connector by screw, two connections
Part is fixedly connected at left and right sides of moving platform mould group by screw, two connectors one and two at left and right sides of silent flatform
The cross axle of claw type connector hinged, remaining connector two and flexural pivot by pin shaft is hinged.
The lead screw mould group includes motor, motor installation bottom plate, guide rail, slide unit, displacement sensor, connecting bottom board, motor
Shaft coupling, lead screw mounting base, photoelectric sensor, lead screw, mould group bottom plate, wherein motor is fixedly connected on motor installation by screw
On bottom plate, motor installation bottom plate is fixedly connected on mould group bottom plate by screw, and guide rail is fixedly connected on mould group bottom by screw
On plate, connecting bottom board is connected by screw on mould group bottom plate, and lead screw mounting base, which is connected by screw to, to be fixed on mould group bottom plate,
Photoelectric sensor is fixedly connected with mould group bottom plate by screw, and the main shaft and lead screw of motor coupler and motor are connected by pin
It connects, feed screw nut and the lead screw of slide unit are connected through a screw thread, and sliding block and the guide rail of slide unit are slidably connected, the measurement of displacement sensor
Telescopic rod is bolted to connection on the connecting plate of slide unit.
The slide unit include sensor chip, slid platform base, sensor connecting plate, screw mounting plate, feed screw nut,
Sliding block, wherein sensor chip is fixedly connected on the left side of slid platform base by screw, and sliding block is fixedly connected by screw
In the bottom surface of slid platform base, sensor connecting plate is connected by screw to slid platform base, and screw mounting plate is connected by screw to
In the bottom recesses of slid platform base, feed screw nut is connected by screw on screw mounting plate.
The Hooke's hinge includes Hooke hinge seat and short axle, and short axle is fixed after the bearing of pedestal with thrust ring；Institute
The flexural pivot stated includes flexural pivot pedestal and cross axle, and cross axle is fixed after the bearing of flexural pivot pedestal with thrust ring；Flexural pivot pedestal
It is identical as the structure of Hooke hinge seat；
The Hooke hinge seat include bearing, upper connecting base, end cap, lower connecting base, upper bed-plate, lower bottom base, short round pin,
Multi-diameter shaft, bearing, by the bearing mounting hole of upper connecting base and with end cap clamping, end cap is connected by screw to upper middle (center) bearing
On attachment base, upper connecting base 7 is fixed by screws on lower connecting base, and upper bed-plate and lower bottom base are bolted, multi-diameter shaft
It is fixed in such a way that two bearings and upper bed-plate, lower bottom base are fixed using both ends, multi-diameter shaft and lower connecting base pass through short round pin
Connection.
The moving platform mould group includes spindle motor, spindle motor mounting base, moving platform, short taper pin, tool heads, main shaft
Motor is connected by screw in spindle motor mounting base, and spindle motor mounting base is connected by screw on moving platform, main shaft
The main shaft and tool heads of motor are connected through a screw thread and pass through short taper pin and fix.
The beneficial effects of the utility model are: realizing polishing rail by the way that lathe is mainly designed in two sub-sections
The movement of mark and status requirement is realized that lathe is serial machine tool by three axis lathes, shares X, and tri- axis of Y, Z composition realizes three axis
Mobile, the movement for adjusting the posture of polishing tool head is completed by tool system in parallel, and tool system in parallel is one three free
The 3-PRS parallel institution of degree.Multi-shaft interlocked milling forming machine tool is avoided since the bring error being serially connected between axis is tired
Product, parallel institution is since it is with redundant degree of freedom abundant, and the rigidity of structure is high, and tool path accumulated error is small, and precision is easy
It ensures.And macro movement and the control of micromotion are mutually indepedent, will not generate multiaxis interference and singular point occurs in arithmetic analysis
Problem；Largely improve precision.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of the utility model x direction guiding rail；
Fig. 3 is the structural schematic diagram of the utility model z direction guiding rail and self-locking device；
Fig. 4 is the structural schematic diagram of the utility model y direction guiding rail；
Fig. 5 is the structural schematic diagram of the utility model parallel connection tool system；
Fig. 6 is the structural schematic diagram of the utility model lead screw mould group；
Fig. 7 is the structural schematic diagram of the slide unit of the utility model lead screw mould group；
Fig. 8 is the structural schematic diagram of the utility model Hooke's hinge；
Fig. 9 is the structural schematic diagram of the utility model flexural pivot；
Figure 10 is the cross-sectional view of the utility model Hooke hinge seat；
Figure 11 is the cross-sectional view of the utility model moving platform mould group；
Figure 12 is the utility model moving platform connection relationship structural schematic diagram；
Figure 13 is the structure simplification figure of polishing tool system in parallel；
Figure 14 is tool heads force analysis figure.
Specific embodiment
Including x direction guiding rail 1, z direction guiding rail and self-locking device 2, y direction guiding rail 3, column 4, lathe bed 5, workbench 6, polishing in parallel
Tool system 7, connecting plate 8, there are four central posts 4, is bolted to connection on four angles of lathe bed 5 respectively, work
Platform 6 is fixedly connected on lathe bed 5 by screw, and two 3 one the first from left of y direction guiding rail are right to be bolted to connection respectively left and right
Four 4 upper ends of column of two sides, x direction guiding rail 1 are bolted to connection on the slide unit of y direction guiding rail 3, z direction guiding rail and self-locking
Device 2 is bolted to connection on the slide unit of x direction guiding rail 1, and polishing tool system 7 in parallel is fixedly connected on company by bolt
Fishplate bar 8, connecting plate 8 are bolted to connection on the slide unit of z direction guiding rail 2.
The x direction guiding rail 1 include x direction guiding rail motor 101, x direction guiding rail pedestal 102, x direction guiding rail synchronous belt 103, x to
Guide rail 104, x direction guiding rail slide unit 105, x direction guiding rail tensioning wheel 106 and x direction guiding rail pin shaft 107, wherein x direction guiding rail motor 101 is logical
It crosses screw to be fixedly connected in the motor cabinet of x direction guiding rail pedestal 102, x direction guiding rail 104 is fixedly connected on x direction guiding rail by screw
On pedestal 102, x direction guiding rail slide unit 105 is slidably connected with x direction guiding rail 104, and x direction guiding rail tensioning wheel 106 passes through x direction guiding rail pin shaft
107 are fixed on x direction guiding rail pedestal 102, and pin shaft is connected through a screw thread with x direction guiding rail pedestal 102, and x direction guiding rail synchronous belt 103 wraps
It is rolled on the driving wheel and x direction guiding rail tensioning wheel 106 of x direction guiding rail motor 101 and is fixedly connected with x direction guiding rail slide unit 105.
The y direction guiding rail 3 is same including y direction guiding rail pedestal 301, y direction guiding rail 302, y direction guiding rail slide unit 303, y direction guiding rail
Walk band 304, y direction guiding rail tensioning wheel 305 and y direction guiding rail pin shaft 306, y direction guiding rail motor 307, the y direction guiding rail motor 307
It is fixedly connected on by screw in the motor cabinet of y direction guiding rail pedestal 301, y direction guiding rail 302 is fixedly connected on guide y by screw
On rail bottom seat 301, y direction guiding rail slide unit 303 is slidably connected with y direction guiding rail 302, and y direction guiding rail tensioning wheel 305 passes through y direction guiding rail pin
Axis 306 is fixed on y direction guiding rail pedestal 301, and y direction guiding rail pin shaft 306 is connected through a screw thread with y direction guiding rail pedestal 301, guide y
Rail synchronous belt 304 be wrapped on the driving wheel and y direction guiding rail tensioning wheel 305 of y direction guiding rail motor 307 and with y direction guiding rail slide unit 303
It is fixedly connected.
The z direction guiding rail and self-locking device 2 include sprocket wheel 201, chain 202, z direction guiding rail motor 203, ballast box 204,
Chain link block 205, air-leg 206, shaft coupling 207, z direction guiding rail slide unit 208, z direction guiding rail pedestal 209, z direction guiding rail lead screw
210, z direction guiding rail 211, z direction guiding rail lead screw mounting base 212, rack 213, two ballast boxes 204 are connected by screw to respectively in machine
The subsequent left and right sides of frame 213, four sprocket wheels 201 are connected to four angles of 213 upper surface of rack, z direction guiding rail by mounting base
Pedestal 209 is fixedly connected on the front end face of rack 213 by screw, z direction guiding rail motor 203 by screw be fixedly connected on z to
209 upper surface of guiderail base, two z direction guiding rail lead screw mounting bases 212 are being fixedly connected on z direction guiding rail pedestal 209 just by screw
Face, the bearing that z direction guiding rail lead screw 210 passes through two lead screw mounting bases 212 are fixed by thrust ring, shaft coupling 207 and z direction guiding rail
The main shaft of motor 203 is connected with z direction guiding rail lead screw 210 by pin, the feed screw nut and z direction guiding rail silk of z direction guiding rail slide unit 208
Thick stick 210 is connected through a screw thread, and sliding block and the z direction guiding rail 211 of z direction guiding rail slide unit 208 are slidably connected, and two chain link blocks 205 are logical
It crosses screw and is connected to 208 left and right sides of z direction guiding rail slide unit, 202 one end of chain is connect with chain link block 205 by pin, another
End is connect with the clump weight of ballast box 204 by pin, and two air-legs 206 are connected by screw in z direction guiding rail slide unit 208
The left and right sides.
The polishing tool system 7 in parallel include silent flatform 701, Hooke's hinge 702, lead screw mould group 703, link block 704,
Claw type connector 705, connector 706, connector 707, moving platform mould group 708, flexural pivot 709, wherein three Hooke's hinges 702 are distinguished
It is fixedly connected on silent flatform 701 by screw, three lead screw mould groups 703 are bolted with three Hooke's hinges 702 respectively
Connection, three link blocks 704 are fixedly connected on 703 end face of lead screw mould group by screw, and two claw type connectors 705 pass through screw
It is fixedly connected on the link block 704 for being located at 701 left and right sides of silent flatform, flexural pivot 709 is fixedly connected on remaining by screw
On one link block 704, connector 706 is fixedly connected on claw type connector 705 by screw, and two connectors 707 pass through
Screw is fixedly connected on 708 left and right sides of moving platform mould group, two one 706 Hes of connector positioned at 701 left and right sides of silent flatform
The cross axle of two claw type connectors 705 hinged, remaining connector 2 707 and flexural pivot 709 by pin shaft is hinged.
The lead screw mould group 703 includes motor 70301, motor installation bottom plate 70302, guide rail 70303, slide unit 70304, position
Displacement sensor 70305, connecting bottom board 70306, motor coupler 70307, lead screw mounting base 70308, photoelectric sensor 70309,
Lead screw 70310, mould group bottom plate 70311, wherein motor 70301 is fixedly connected in motor installation bottom plate 70302 by screw, electricity
Machine mounting base 70302 is fixedly connected on mould group bottom plate 70311 by screw, and guide rail 70303 is fixedly connected on by screw
On mould group bottom plate 70311, connecting bottom board 70306 is connected by screw on mould group bottom plate 70311, and lead screw mounting base 70308 is logical
It crosses screw to be fastened on mould group bottom plate 70311, photoelectric sensor 70309 is fixedly connected with mould group bottom plate by screw, electricity
Machine shaft coupling 70307 is connect with the main shaft of motor 70301 and lead screw 70310 by pin, the feed screw nut and silk of slide unit 70304
Thick stick 70310 is connected through a screw thread, and sliding block and the guide rail 70303 of slide unit 70304 are slidably connected, the measurement of displacement sensor 70305
Telescopic rod is bolted to connection on the connecting plate of slide unit 70304.
The slide unit 70304 includes sensor chip 7030401, slid platform base 7030402, sensor connecting plate
7030403, screw mounting plate 7030404, feed screw nut 7030405, sliding block 7030406, wherein sensor chip 7030401
The left side of slid platform base 7030402 is fixedly connected on by screw, sliding block 7030406 is fixedly connected on slide unit bottom by screw
The bottom surface of seat 7030402, sensor connecting plate 7030403 are connected by screw to slid platform base 7030402, screw mounting plate
7030404 are connected by screw in the bottom recesses of slid platform base 7030402, and feed screw nut 7030405 is connected by screw to
On screw mounting plate 7030404.
The Hooke's hinge 702 includes Hooke hinge seat 70201 and short axle 70202, and short axle 70202 passes through pedestal 70201
Bearing after fixed with thrust ring；The flexural pivot 709 includes flexural pivot pedestal 70902 and cross axle 70901, cross axle 70901
It is fixed after the bearing of flexural pivot pedestal 70902 with thrust ring；The structure phase of flexural pivot pedestal 70902 and Hooke hinge seat 70201
Together；
The Hooke hinge seat 70201 includes bearing 7020101, upper connecting base 7020102, end cap 7020103, lower company
Joint chair 7020104, upper bed-plate 7020105, lower bottom base 7020106, short round pin 7020107, multi-diameter shaft 7020108, bearing
7020109, middle (center) bearing 7020101 passes through the bearing mounting hole of upper connecting base 7020102 and uses 7020103 clamping of end cap, holds
Lid 7020103 is connected by screw on upper connecting base 7020102, and upper connecting base 7020102 is fixed by screws in lower connection
On seat 7020104, upper bed-plate 7020105 and lower bottom base 7020106 are bolted, and multi-diameter shaft 7020108 passes through two axis
Hold 7020109 and upper bed-plate 7020105, lower bottom base 7020106 fixed in such a way that both ends are fixed, 7020108 He of multi-diameter shaft
Lower connecting base 7020104 is connected by short round pin 7020107.
The moving platform mould group 708 include spindle motor 70801, spindle motor mounting base 70802, moving platform 70803,
Short taper pin 70804, tool heads 70805, spindle motor 70801 are connected by screw in spindle motor mounting base 70802, main shaft
Motor mount 70802 is connected by screw on moving platform 70803, and the main shaft and tool heads 70805 of spindle motor 70801 are logical
It crosses and is threadedly coupled and is fixed by short taper pin 70804.
The control method of accurate milling forming machine tool of the utility model based on parallel tool system, including following step
It is rapid:
(1), coordinate system XYZ is established using 701 geometric center of silent flatform as origin, wherein Z axis is on vertical direction by quiet
The straight line of 701 geometric center of platform, X-axis be in the horizontal plane and by 701 geometric center of silent flatform it is parallel with X direction guiding rail 1
Horizontal linear, Y-axis be in the horizontal plane and by 701 geometric center of the silent flatform horizontal linear parallel with y direction guiding rail 3,
Coordinate system X'Y'Z' is established using 708 geometric center of moving platform mould group as origin, wherein Z' axis is to pass through moving platform on vertical direction
The straight line of 708 geometric center of mould group, X' axis be in the horizontal plane and by 708 geometric center of moving platform mould group and X direction guiding rail 1
Parallel horizontal linear, Y' axis be in the horizontal plane and by 708 geometric center of moving platform mould group it is parallel with Y-direction guide rail 3
Horizontal linear, when workpiece by fixture clamping and it is fixed on the table after, using three axis mobile platforms by polishing tool in parallel
System is sent to be processed position, and silent flatform and the location of workpiece have determined；
(2), the description of the kinematic geometry relationship to moving platform mould group in silent flatform coordinate system XYZ:
If A1、B1、C1In the coordinate vector of XYZ coordinate system are as follows:
A1=(A1x,A1y,A1z)T=(2D, 0,0)T
B1=(B1x,B1y,B1z)T=(- D, H, 0)T
C1=(C1x,C1y,C1z)T=(- D ,-H, 0)T
If A2、B2、C2In the coordinate vector of X'Y'Z' coordinate system are as follows:
A2=(2d, 0,0)T
B2=(- d, h, 0)T
C2=(- d ,-h, 0)T
Wherein, A1、B1、C1It is silent flatform hinge joint, A2、B2、C2It is moving platform mould group hinge joint；
Moving platform mould group 708 is retouched about 701 continuous rotation of silent flatform and the movement relation of translation with matrix (α, β, z)
It states, wherein α, β respectively indicates the angle that moving platform mould group 708 is rotated around X, Y-axis, and z indicates moving platform mould group 708 along Z-direction
Amount of movement, by moving platform mould group 708 transform to silent flatform 701 around X-axis rotational transformation matrix be Rx, around Y-axis rotation transformation
Matrix Ry, along Z axis translation transformation matrix Pz, specific transformation matrix are as follows:
When moving platform mould group 708 is about 701 continuous rotation of silent flatform, posture changing matrix are as follows:
(A2x,A2y,A2z)T、(B2x,B2y,B2z)T、(C2x,C2y,C2z)TRespectively indicate A in 708 coordinate system of moving platform mould group2、
B2、C2Transform to the coordinate vector in 701 coordinate system of silent flatform
(A2x,A2y,A2z)T=(2dcos β, 0, -2dsin β+z)T
(C2x,C2y,C2z)T=(d cos β-h sin α sin β ,-h cos α, d sin β-h sin α cos β+z)T
(3), A1A2、B1B2、C1C2Length and moving platform mould group position relationship
In conjunction with step (2), A when moving platform mould group 708 is in any attitude1A2、B1B2、C1C2Length:
During attitudes vibration, three lead screw mould group control motors control slide unit moving distance respectively are as follows:
Wherein lA0、lB0、lC0Respectively moving platform mould group 708 carries out the A before pose adjustment1A2、B1B2、C1C2Length,
lA1、lB1、lC1Respectively moving platform mould group 708 carries out pose A adjusted1A2、B1B2、C1C2Length, △ lA、△lB、△lC
Indicate A1A2、B1B2、C1C2Length variable quantity；
In conclusion the free position of moving platform mould group 708 always has unique A1A2、B1B2、C1C2Length be corresponding to it,
It can be by controlling A not by external force1A2、B1B2、C1C2Length just can control moving platform mould group 708 reach it is theoretical just
True position X, but due in process tool heads influenced by contact force, 708 physical location of moving platform mould group is Xa；
(4), tool heads are eliminated because of stress deformation bring error
In process, tool heads are contacted with the machined surface of workpiece generates normal direction contact force and tangential friction force, ignores
Tangential friction force, in order to reach best processing effect, it is expected that the control of normal direction contact force is set as F in a certain rangeN, using conspicuous
Hereby contact theory analyzes the stress condition of the process: tool heads being regarded as rigid material, when tool heads and processed curved surface connect
When touching, micro-strain occurs at contact point for machined surface, ideal process is carried out to two objects of contact, using workpiece as soft
Body, tool heads regard rigid body as, and flexible deformation is all occurring on workpiece；
Deflection ε and contact force F are known by Hertz theoryNMeet following formula:
Contact force FN:
By knowing elastic deformation amount ε, relative resilient modulus amount E*, tool heads and workpiece to be machined surface ReAll to polishing force FN
It can have an impact.But in a work step of process, relative resilient modulus E*With at initial contact point tool heads and be processed
The relative radius of curvature R of part curved surfaceeBe it is determining, so the elastic deformation amount ε and contact force F of normal directionNIt is directly related.Workpiece exists
It is expected that the normal deformation generated under contact force can be assigned in the amount of exercise of each workbench of lathe according to Motion trajectory, if
The position in the silent flatform coordinate system XYZ of tool heads is Xb at this time；
(5), location-based impedance control contact force Controlling model
(1) detection of tool heads normal direction contact force
One force snesor is installed on each mechanical arm of freedom degree parallel connection structure tool system, can detecte
The arm is along the arm direction institute stress.By stress relationship it is found that mechanical arm A1A2To the thrust of moving platform along moving platform normal orientation
Component:
Similarly, mechanical arm B1B2, mechanical arm C1C2To the thrust of moving platform along the component of moving platform normal orientation:
F2n=F2cosγ
F3n=F3cosδ
Then tool heads normal direction contact force:
Wherein,It is lA0With plane A2B2C2Angle, γ is lB0With plane A2B2C2Angle, δ is lC0With plane
A2B2C2Angle, F1It is along lA0The stress in direction, F2It is along lB0The stress in direction, F3It is along lC0The stress in direction, G are flat
Gravity suffered by platform mould group, θ are gravity and plane A2B2C2Angle.
(2) impedance model
Force snesor detects real-time contact force, is compared by the theoretical contact power with processing request, and the two makees poor obtain
To error Fe, by error FeIt is input in outer ring impedance Control Model H (f).Impedance Control Model is generated according to corresponding calculating and is connect
Touch error FeCorresponding displacement correction amount E, and it is input to endocyclic position Controlling model GpIn.The output of endocyclic position Controlling model
Corresponding position correction information is into the motion mathematical model G of freedom degree parallel connection polishing tool system.According to the control strategy
Following impedance Control Model can be established:
In order to guarantee that transition is stablized in tool heads control process, should make parameter meet following formula first:
Wherein, MdIt is target inertia matrix, BdIt is target damping matrix, KdIt is target stiffness matrix, E is tool heads reality
Physical location and theoretical position drift correction value, FeIt is the difference of contact force detected value and theoretical value；
Controller may be implemented by this Controlling model to be repaired according to real-time polishing force value and desired value error generation position
This correction amount E is added to △ l by Inverse Kinematics Solution by positive quantity EA、△lB、△lCIn, obtain final Working position Xc.
In summary, lathe is totally divided into two parts: three axis lathes and tool system in parallel, three axis lathes mainly realize by
Tool system in parallel is transferred to processing stand position, tool system main implementation tool head pose adjustment and the side Z in space in parallel
Upward advance and retreat knife connects three mechanical brachiums of dynamic and static platform in processing stand position by ideal tools posture reverse
Variable quantity is spent, the moving platform position of control is achieved the purpose that by control three mechanical arm lengths.
Claims (10)
1. a kind of accurate milling forming machine tool based on parallel tool system, it is characterised in that: including x direction guiding rail, guide z
Rail and self-locking device, y direction guiding rail, column, lathe bed, workbench, polishing tool system in parallel, connecting plate, there are four central posts,
It is bolted to connection on four angles of lathe bed respectively, workbench is fixedly connected on lathe bed by screw, two guides y
Rail is bolted to connection four the upper end of the column in arranged on left and right sides respectively, x direction guiding rail be bolted to connection y to
On the slide unit of guide rail, z direction guiding rail and self-locking device are bolted to connection on the slide unit of x direction guiding rail, polishing tool in parallel
System is fixedly connected on connecting plate by bolt, and connecting plate is bolted to connection on the slide unit of z direction guiding rail.
2. a kind of accurate milling forming machine tool based on parallel tool system according to claim 1, feature exist
In: the x direction guiding rail includes x direction guiding rail motor, x direction guiding rail pedestal, x direction guiding rail synchronous belt, x direction guiding rail, x direction guiding rail cunning
Platform, x direction guiding rail tensioning wheel and x direction guiding rail pin shaft, wherein x direction guiding rail motor is fixedly connected on x direction guiding rail pedestal by screw
In motor cabinet, x direction guiding rail is fixedly connected on x direction guiding rail pedestal by screw, and x direction guiding rail slide unit is slidably connected with x direction guiding rail,
X direction guiding rail tensioning wheel is fixed on x direction guiding rail pedestal by x direction guiding rail pin shaft, and pin shaft and x direction guiding rail pedestal are connected by screw thread
It connects, x direction guiding rail synchronous belt is wrapped on the driving wheel and x direction guiding rail tensioning wheel of x direction guiding rail motor and fixes with x direction guiding rail slide unit
Connection.
3. a kind of accurate milling forming machine tool based on parallel tool system according to claim 1, feature exist
In: the y direction guiding rail includes y direction guiding rail pedestal, y direction guiding rail, y direction guiding rail slide unit, y direction guiding rail synchronous belt, the tensioning of y direction guiding rail
Wheel and y direction guiding rail pin shaft, y direction guiding rail motor, the y direction guiding rail motor are fixedly connected on y direction guiding rail pedestal by screw
In motor cabinet, y direction guiding rail is fixedly connected on y direction guiding rail pedestal by screw, and y direction guiding rail slide unit is slidably connected with y direction guiding rail,
Y direction guiding rail tensioning wheel is fixed on y direction guiding rail pedestal by y direction guiding rail pin shaft, and y direction guiding rail pin shaft passes through with y direction guiding rail pedestal
It is threadedly coupled, y direction guiding rail synchronous belt is wrapped on the driving wheel and y direction guiding rail tensioning wheel of y direction guiding rail motor and slides with y direction guiding rail
Platform is fixedly connected.
4. a kind of accurate milling forming machine tool based on parallel tool system according to claim 1, feature exist
In: the z direction guiding rail and self-locking device include sprocket wheel, chain, z direction guiding rail motor, ballast box, chain link block, air-leg,
Shaft coupling, z direction guiding rail slide unit, z direction guiding rail pedestal, z direction guiding rail lead screw, z direction guiding rail, z direction guiding rail lead screw mounting base, rack,
In two ballast boxes be connected by screw to respectively in the subsequent left and right sides of rack, four sprocket wheels are connected to rack by mounting base
Four angles of upper surface, z direction guiding rail pedestal are fixedly connected on the front end face of rack by screw, and z direction guiding rail motor passes through screw
It is fixedly connected on z direction guiding rail pedestal upper surface, two z direction guiding rail lead screw mounting bases are fixedly connected on z direction guiding rail bottom by screw
Seat front, the bearing that z direction guiding rail lead screw passes through two lead screw mounting bases are fixed by thrust ring, shaft coupling and z direction guiding rail motor
Main shaft connected with z direction guiding rail lead screw by pin, the feed screw nut of z direction guiding rail slide unit and z direction guiding rail lead screw pass through screw thread company
It connects, sliding block and the z direction guiding rail of z direction guiding rail slide unit are slidably connected, and two chain link blocks are connected by screw to left in z direction guiding rail slide unit
Right two sides, chain one end are connect with chain link block by pin, and the clump weight of the other end and ballast box is connected by pin, and two
Air-leg is connected by screw at left and right sides of z direction guiding rail slide unit.
5. a kind of accurate milling forming machine tool based on parallel tool system according to claim 1, feature exist
In: the polishing tool system in parallel include silent flatform, Hooke's hinge, lead screw mould group, link block, claw type connector, connector,
Connector, moving platform mould group, flexural pivot, are fixedly connected on silent flatform wherein three Hooke's hinges pass through screw respectively, three lead screws
Mo Zu is bolted to connection with three Hooke's hinges respectively, and three link blocks are fixedly connected on lead screw mould group end by screw
Face, two claw type connectors are fixedly connected on the link block at left and right sides of silent flatform by screw, and flexural pivot passes through screw
It is fixedly connected on a remaining link block, connector is fixedly connected on claw type connector by screw, two connectors
It is fixedly connected at left and right sides of moving platform mould group by screw, two connector one and two pawls at left and right sides of silent flatform
The cross axle of type connector hinged, remaining connector two and flexural pivot by pin shaft is hinged.
6. a kind of accurate milling forming machine tool based on parallel tool system according to claim 5, feature exist
In: the lead screw mould group includes motor, motor installation bottom plate, guide rail, slide unit, displacement sensor, connecting bottom board, motor shaft coupling
Device, lead screw mounting base, photoelectric sensor, lead screw, mould group bottom plate, wherein motor is fixedly connected on motor installation bottom plate by screw
On, motor installation bottom plate is fixedly connected on mould group bottom plate by screw, and guide rail is fixedly connected on mould group bottom plate by screw,
Connecting bottom board is connected by screw on mould group bottom plate, and lead screw mounting base, which is connected by screw to, to be fixed on mould group bottom plate, photoelectricity
Sensor is fixedly connected with mould group bottom plate by screw, and the main shaft and lead screw of motor coupler and motor are connected by pin, sliding
The feed screw nut of platform is connected through a screw thread with lead screw, and sliding block and the guide rail of slide unit are slidably connected, and the measurement of displacement sensor is flexible
Bar is bolted to connection on the connecting plate of slide unit.
7. a kind of accurate milling forming machine tool based on parallel tool system according to claim 6, feature exist
In: the slide unit include sensor chip, slid platform base, sensor connecting plate, screw mounting plate, feed screw nut, sliding block,
Wherein sensor chip is fixedly connected on the left side of slid platform base by screw, and sliding block is fixedly connected on slide unit by screw
The bottom surface of pedestal, sensor connecting plate are connected by screw to slid platform base, and screw mounting plate is connected by screw at slide unit bottom
In the bottom recesses of seat, feed screw nut is connected by screw on screw mounting plate.
8. a kind of accurate milling forming machine tool based on parallel tool system according to claim 5, feature exist
In: the Hooke's hinge includes Hooke hinge seat and short axle, and short axle is fixed after the bearing of pedestal with thrust ring；The ball
Hinge includes flexural pivot pedestal and cross axle, and cross axle is fixed after the bearing of flexural pivot pedestal with thrust ring；Flexural pivot pedestal and Hooke
The structure of hinge seat is identical.
9. a kind of accurate milling forming machine tool based on parallel tool system according to claim 8, feature exist
In: the Hooke hinge seat includes bearing, upper connecting base, end cap, lower connecting base, upper bed-plate, lower bottom base, short round pin, ladder
Axis, bearing, by the bearing mounting hole of upper connecting base and with end cap clamping, end cap is connected by screw in upper connection middle (center) bearing
On seat, upper connecting base 7 is fixed by screws on lower connecting base, and upper bed-plate and lower bottom base are bolted, and multi-diameter shaft passes through
Two bearings and upper bed-plate, lower bottom base are fixed in such a way that both ends are fixed, and multi-diameter shaft is connected with lower connecting base by short round pin.
10. a kind of accurate milling forming machine tool based on parallel tool system according to claim 5, feature exist
In: the moving platform mould group includes spindle motor, spindle motor mounting base, moving platform, short taper pin, tool heads, spindle motor
It is connected by screw in spindle motor mounting base, spindle motor mounting base is connected by screw on moving platform, spindle motor
Main shaft and tool heads be connected through a screw thread and pass through short taper pin and fix.
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| CN109129158A (en) * | 2018-10-30 | 2019-01-04 | 吉林大学 | Accurate milling forming machine tool and its control method based on parallel tool system |
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