DE102010015798B4 - milling head - Google Patents
milling head Download PDFInfo
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- DE102010015798B4 DE102010015798B4 DE201010015798 DE102010015798A DE102010015798B4 DE 102010015798 B4 DE102010015798 B4 DE 102010015798B4 DE 201010015798 DE201010015798 DE 201010015798 DE 102010015798 A DE102010015798 A DE 102010015798A DE 102010015798 B4 DE102010015798 B4 DE 102010015798B4
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- Germany
- Prior art keywords
- axis
- milling
- unit
- platform
- pivot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
- B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
- B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
- B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
- B23Q1/4852—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
- B23Q1/4861—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair followed parallelly by a single rotating pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Machine Tool Units (AREA)
Abstract
Fräseinheit mit einer Frässpindel, einem Spindelkasten und einer Werkzeugrichtung Z, die in zu Z orthogonalen Achsen A und B schwenkbar ist, dadurch gekennzeichnet, dass eine der beiden Schwenkachsen als eine zwischen zwei Gelenken (2; 3) kippbare Einheit wie etwa eine Plattform (1) ausgebildet ist, die ihrerseits wiederum eine zweite Schwenkeinheit (8) mit einer zur ersten Schwenkachse A orthogonalen Achse B trägt, und die Verstellung mindestens eines Gelenks (3; 2) mittels eines Antriebes (5) und eines Gelenkarmes (4; 6) durch ein Führungsgetriebe erfolgt, welches in dem Spindelkasten angeordnet ist.Milling unit comprising a milling spindle, a headstock and a tool direction Z which is pivotable in Z orthogonal axes A and B, characterized in that one of the two pivot axes as a tiltable between two joints (2; 3) unit such as a platform (1 ), which in turn carries a second pivot unit (8) with an axis B orthogonal to the first pivot axis A, and the adjustment of at least one hinge (3; 2) by means of a drive (5) and an articulated arm (4; 6) a guide gear is provided, which is arranged in the spindle box.
Description
Die Erfindung betrifft eine Fräskopfeinheit bzw. Fräseinheit gemäß dem Oberbegriff des Hauptanspruches, insbesondere eine Fräskopfeinheit für die 5-achsige spanende Bearbeitung von Werkstücken mit Freiformflächen beliebiger Art. Sie ist Bestandteil eines Fräsmaschinenkonzepts, in der die Fräskopfeinheit zum Verfahren in den Linearachsen X, Y und Z vorgesehen ist.The invention relates to a milling head unit or milling unit according to the preamble of the main claim, in particular a Fräskopfeinheit for 5-axis machining of workpieces with free-form surfaces of any kind. It is part of a Fräsmaschinenkonzepts in the milling head unit for moving in the linear axes X, Y and Z is provided.
Die 5-achsige Bearbeitung eines Werkstückes erfordert neben der Verwendung von drei Linearachsen zwei zusätzliche Rotationsachsen, um das Werkzeug relativ zu einem Werkstück unter einem vorgegebenen Winkel anzustellen.The 5-axis machining of a workpiece requires, in addition to the use of three linear axes, two additional rotation axes in order to adjust the tool relative to a workpiece at a predetermined angle.
Es sind vielfältige Kombinationen von Anordnungen der Rotationsachsen bekannt. Es können das Werkzeug und/oder das Werkstück geschwenkt werden.Various combinations of arrangements of the axes of rotation are known. It can be pivoted, the tool and / or the workpiece.
Für das Schwenken des Werkzeuges um zwei Rotationsachsen werden zumeist Fräseinheiten verwendet, die als Gabelfräsköpfe bezeichnet werden. Bei diesen Fräseinheiten liegt eine Schwenkachse A senkrecht zur Werkzeugachse Z, die zweite Schwenkachse C liegt parallel zur Werkzeugachse.For the pivoting of the tool about two axes of rotation mostly milling units are used, which are referred to as Gabelfräsköpfe. In these milling units a pivot axis A is perpendicular to the tool axis Z, the second pivot axis C is parallel to the tool axis.
Als Abwandlungen eines Gabelfräskopfes können Fräsköpfe gesehen werden, welche eine Achse schräg zur Werkzeugachse oder nur eine halbe Gabel aufweisen. Auch diese Köpfe sind gekennzeichnet durch eine Schwenkachse C, welche parallel zur Werkzeugachse liegt.As modifications of a Gabelfräskopfes milling heads can be seen, which have an axis oblique to the tool axis or only half a fork. These heads are characterized by a pivot axis C, which is parallel to the tool axis.
Der Nachteil dieser Kopfkonstruktionen ist, dass bei einer gewünschten Stellung des Werkzeuges im Raum häufig die C-Achse einen großen Weg zurücklegen muss. Dies ist begründet in der Mehrdeutigkeit der Stellung der C-Achse, sofern sich die A-Achse in Nullstellung befindet. Diese Stelle wird auch als Polstelle bezeichnet.The disadvantage of these head designs is that when the tool is desired in space, the C axis often has to travel a long way. This is due to the ambiguity of the position of the C-axis, provided that the A-axis is in zero position. This point is also called a pole.
Daher gibt es Lösungsansätze, bei denen andere Anordnungen der Schwenkachsen realisiert werden. Hierbei werden zwei Schwenkachsen A und B verwendet, die senkrecht zur Werkzeugachse Z stehen.Therefore, there are approaches in which other arrangements of the pivot axes are realized. Here, two pivot axes A and B are used, which are perpendicular to the tool axis Z.
Aus der
Neben den vorgenannten Fräseinheiten mit serieller Kinematik (eine Achse trägt die nächste Achse) sind auch Fräseinheiten mit paralleler Kinematik bekannt. Ein Beispiel hierfür ist die
Der Erfindung liegt die Aufgabe zugrunde, eine Fräseinheit zu schaffen, welche die genannten Nachteile vermeidet und die Vorteile aufweist:
- – Schwenkachsen A und B orthogonal zur Werkzeugachse Z
- – Kompakte Bauweise
- – Gute Kontrolleder Genauigkeit
- – Einfache Medienführung
- – Einfache kinematische Beschreibung
- - Swivel axes A and B orthogonal to the tool axis Z
- - Compact design
- - Good control of accuracy
- - Simple media management
- - Simple kinematic description
Gegenstand der Erfindung und Lösung ist eine Fräseinheit mit allen Merkmalen gemäß Anspruch 1, die eine Kopplung aus serieller und paralleler Kinematik darstellt, bei der eine der beiden Schwenkachsen als eine zwischen zwei Gelenken kippbare Einheit, etwa als Plattform, ausgebildet ist, die ihrerseits wiederum eine zweite Schwenkeinheit mit einer zur ersten Schwenkachse A orthogonalen Achse B trägt. Die beiden Schwenkachsen A und B können unabhängig voneinander bewegt und mittels zugeordneter Messgeber in ihren Positionen, Geschwindigkeiten und Beschleunigungen erfasst werden. Darüber hinaus ist durch eine einfache Erweiterung auch eine Bewegung in Z realisierbar.The invention and solution is a milling unit with all features according to claim 1, which is a coupling of serial and parallel kinematics, in which one of the two pivot axes as a tiltable between two joints unit, such as a platform, is formed, in turn, a second pivoting unit with an axis orthogonal to the first pivot axis A B carries. The two pivot axes A and B can be moved independently of each other and detected by means of associated encoder in their positions, speeds and accelerations. In addition, by a simple extension, a movement in Z can be realized.
Grundgedanke der Erfindung ist, wie bei parallelkinematischen Konstruktionen üblich, die Verwendung einer kippbaren Einheit wie einer Plattform als Basis der Fräseinheit. Die Gestalt der Plattform ist beliebig, im einfachsten Fall eine Platte. Die Komplexität der Bewegung bis hin zu 6 Freiheitsgraden (als Beispiel sei hier die
Hierzu wird die Plattform durch zwei vorteilshafterweise zylinderförmige Gelenke gehalten und gelagert. Die Gelenke haben zueinander parallele Achsen in einem geeigneten Abstand. Im einfachsten Fall ist ein Gelenk ortsfest an einem Teil der Fräsmaschine, hier als Spindelkasten (nicht in der Zeichnung dargestellt) bezeichnet, befestigt. Die Plattform kann hierdurch um eine Achse A am Spindelkasten gedreht werden. Am anderen Gelenk greift ein Gelenkarm an, welcher durch mechanische Verstellung mittels eines Motors (linear, rotatorisch) die Plattform in ihrer Lage um die Schwenkachse A dreht. Die Realisierung des Gelenkarmes und der Verstellung erfolgt durch ein geeignetes Führungsgetriebe, welches zweckmäßig im Spindelkasten untergebracht ist und somit den Bauraumbedarf erheblich verkleinert.For this purpose, the platform is held and stored by two advantageously cylindrical joints. The joints have mutually parallel axes at a suitable distance. In the simplest case, a joint fixed to a part of the milling machine, here as a spindle box (not shown in the drawing), attached. The platform can thereby be rotated about an axis A on the headstock. At the other joint engages an articulated arm, which rotates by mechanical adjustment by means of a motor (linear, rotary), the platform in its position about the pivot axis A. The realization of the articulated arm and the adjustment is carried out by a suitable guide gear, which is conveniently housed in the headstock and thus significantly reduces the space requirement.
Vorteilhafte Ausgestaltungen der Erfindung werden in den Zeichnungen näher beschreiben. Es zeigen:Advantageous embodiments of the invention will be described in more detail in the drawings. Show it:
Gemäß
Grundsätzlich sind auch andere ähnliche Antriebslösungen zum Schwenken der als Plattform
Durch einfache Erweiterung um einen zweiten Gelenkarm
In beiden Fällen der
So können vorzugsweise alle Gelenke
Die Realisierung der Schwenkachse B erfolgt durch die mögliche Integration geeigneter Schwenkantriebe in die als Plattform
Neben der möglichen Integration der Schwenkachse B ist es gemäß der erfinderischen Lösung auch möglich, einen „halben” Gabelfräskopf
Der beispielsweise Gesamtaufbau der erfinderischen Lösung in einer der beschriebenen Varianten ist in
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE201010015798 DE102010015798B4 (en) | 2010-04-20 | 2010-04-20 | milling head |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE201010015798 DE102010015798B4 (en) | 2010-04-20 | 2010-04-20 | milling head |
Publications (2)
Publication Number | Publication Date |
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DE102010015798A1 DE102010015798A1 (en) | 2011-10-20 |
DE102010015798B4 true DE102010015798B4 (en) | 2012-07-05 |
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DE201010015798 Active DE102010015798B4 (en) | 2010-04-20 | 2010-04-20 | milling head |
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Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1080074A (en) * | 1963-04-11 | 1967-08-23 | Elliott Brothers London Ltd | Improvements in mechanical positioning systems |
DE29818719U1 (en) * | 1998-10-21 | 1998-12-24 | Roschiwal + Partner Ingenieur Gmbh, 86179 Augsburg | Articulated tool head |
DE19850603A1 (en) * | 1998-11-03 | 2000-05-11 | Ds Technologie Werkzeugmaschin | Milling cutter head unit, with cardan bearings for milling spindle |
US6099217A (en) * | 1995-12-20 | 2000-08-08 | Wiegand; Alexander Konrad | Device for spatially moving a body with three to six degrees of freedom in a controlled manner |
DE19850708C2 (en) * | 1998-11-03 | 2000-10-26 | Ds Technologie Werkzeugmaschin | Milling head unit |
DE19924823A1 (en) * | 1999-05-29 | 2000-11-30 | Manfred Weck | Device for finishing and assembling workpieces has support connectable to coupling members of which one is body of variable length which changes as support is adjusted by actor |
DE19948335C1 (en) * | 1999-10-07 | 2001-07-05 | Fraunhofer Ges Forschung | Movement and/or positioning device fits onto frame of machine tool and has support with at least three locating devices and at least two rotary degrees of freedom, arranged in a plane |
DE10047917A1 (en) * | 2000-09-27 | 2002-04-18 | Siemens Ag | Gearless, integrated spindle drive for an industrial processing machine |
DE102005042031A1 (en) * | 2004-09-24 | 2006-03-30 | Dieter Faude | Motional unit for robots is mounted on object holder of platform of robot and has further object holder movable about axis for extra degrees of freedom |
DE102006039202A1 (en) * | 2006-08-22 | 2008-03-20 | F. Zimmermann Gmbh | Compact milling head unit |
DE102008047849A1 (en) * | 2008-09-18 | 2010-04-01 | Klement, Joachim, Dipl.-Ing. | Universally rotatable milling head or pivoting unit for use in e.g. aircraft industry for horizontal processing conical mold cavity, has direct drive-spherical motor for performing driving and stepless turning of B-axle |
-
2010
- 2010-04-20 DE DE201010015798 patent/DE102010015798B4/en active Active
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1080074A (en) * | 1963-04-11 | 1967-08-23 | Elliott Brothers London Ltd | Improvements in mechanical positioning systems |
US6099217A (en) * | 1995-12-20 | 2000-08-08 | Wiegand; Alexander Konrad | Device for spatially moving a body with three to six degrees of freedom in a controlled manner |
DE29818719U1 (en) * | 1998-10-21 | 1998-12-24 | Roschiwal + Partner Ingenieur Gmbh, 86179 Augsburg | Articulated tool head |
DE19850603A1 (en) * | 1998-11-03 | 2000-05-11 | Ds Technologie Werkzeugmaschin | Milling cutter head unit, with cardan bearings for milling spindle |
DE19850708C2 (en) * | 1998-11-03 | 2000-10-26 | Ds Technologie Werkzeugmaschin | Milling head unit |
DE19924823A1 (en) * | 1999-05-29 | 2000-11-30 | Manfred Weck | Device for finishing and assembling workpieces has support connectable to coupling members of which one is body of variable length which changes as support is adjusted by actor |
DE19948335C1 (en) * | 1999-10-07 | 2001-07-05 | Fraunhofer Ges Forschung | Movement and/or positioning device fits onto frame of machine tool and has support with at least three locating devices and at least two rotary degrees of freedom, arranged in a plane |
DE10047917A1 (en) * | 2000-09-27 | 2002-04-18 | Siemens Ag | Gearless, integrated spindle drive for an industrial processing machine |
DE102005042031A1 (en) * | 2004-09-24 | 2006-03-30 | Dieter Faude | Motional unit for robots is mounted on object holder of platform of robot and has further object holder movable about axis for extra degrees of freedom |
DE102006039202A1 (en) * | 2006-08-22 | 2008-03-20 | F. Zimmermann Gmbh | Compact milling head unit |
DE102008047849A1 (en) * | 2008-09-18 | 2010-04-01 | Klement, Joachim, Dipl.-Ing. | Universally rotatable milling head or pivoting unit for use in e.g. aircraft industry for horizontal processing conical mold cavity, has direct drive-spherical motor for performing driving and stepless turning of B-axle |
Also Published As
Publication number | Publication date |
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DE102010015798A1 (en) | 2011-10-20 |
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Effective date: 20121006 |