Large-work-space three-transverse-movement parallel machine tool additionally provided with two redundancy sliding freedom degrees

Abstract

The invention discloses a large-work-space three-transverse-movement parallel machine tool additionally provided with two redundancy sliding freedom degrees. The large-work-space three-transverse-movement parallel machine tool comprises a machine frame, a longitudinal linear module, a transverse two-linkage linear module, a first branch chain set, a second branch chain set, a third branch chain set, a movable platform and a working table. One ends of the first branch chain set, the second branch chain set and the third branch chain set are connected with a fourth sliding block, a fifth sliding block and a third sliding block respectively, the other ends of the first branch chain set, the second branch chain set and the third branch chain set are connected with the movable platform, and all the branch chain sets are connected with the longitudinal linear module or the transverse two-linkage linear module or the movable platform through spherical hinges at the two ends, and a space parallel closed loop structure is composed; the transverse two-linkage linear module and the longitudinal linear module are installed on the machine frame in an intersected mode; the platform is driven by the three transverse movements of the three branch chain sets, the longitudinal linear modules and the transverse two-linkage linear module to move, and the large processing range of the machine tool is achieved. The three-transverse-movement parallel machine tool is flexible in movement, compact in structure, capable of evading singular positions and large in work space, and is particularly suitable for processing work of large workpieces.

Description

technical field [0001] The invention belongs to the field of numerical control manufacturing equipment, in particular to a three-translation parallel machine tool with large working space and two redundant slides. Background technique [0002] In the field of grand manufacturing, traditional single-column boring and milling machines, large gantry milling machines and other types of machine tools are difficult to meet the processing requirements of today's large workpieces due to problems such as poor dynamic performance, low precision, large body and high cost. As a new concept machine tool, parallel machine tool has its unique advantages compared with traditional CNC machine tools, such as high rigidity, large bearing capacity, fast response speed, and strong environmental adaptability. [0003] Chinese patent CN105818137A discloses a parallel mechanism with three-dimensional translation, including a moving platform, a fixed platform and three sets of branch chains. The mec...

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Problems solved by technology

[0003] Chinese patent CN105818137A discloses a parallel mechanism with three-dimensional translation, including a moving platform, a fixed platform and three sets of branch chains. The mechanism uses three servo motors to synchronously drive a set of retractable branch chains. The disadvantage is that the working space of the mechanism is small , not suitable for large-scale work; Chinese patent CN103240729A discloses a three-translational parallel manipulator in space, including a fixed frame, a moving platform, and three branch chain groups symmetrically arranged between the fixed frame and the moving platform. The chain is divided into near frame rods and far frame rods to form a space-axisymmetric multi-link structure. The limitation is that the rigidity is poor and the working space is small; the Pegasus wood processing center launched by the German Reichenbacher company uses three sets of fixed rods that are long and The two ends of the rod system are equipped with universal hinges. The rod system is connected to the three mobile slides and the moving platform by means of the hinges. The disadvantage is that the working space is narrow and long, and the rigidity and precision cannot meet the requirements for the processing of large metal workpieces; the University of Stuttgart and the University of Stuttgart in Germany The Gantry-Tau parallel robot jointly researched by the University of Queensland in Australia, Agde College in Norway and ABB in Sweden adopts the layout of fixed-length rods and three sliding seats. One sliding seat has a set of parallel rods and one sliding seat. Three rods form two parallelograms, a rod is installed on the third sliding seat, and three horizontal guide rails are fixed on the frame. By planning the movement of the three sliding seats, the moving platform is converted from the left space to the right space, thus comparing Other parallel mechanisms have a larger working space

However, there are two problems with this mechanism: first, the length of the guide rail must be increased in order to obtain a larger working space, and the lateral working range of the mechanism is relatively small; second, the trajectory planning of the moving platform switching between the left and right spaces is extremely complicated, and Limited paths available

Zhang Chuanxu. Research on the overall technology of C-shaped gantry parallel machine tool [D]. Nanjing: Nanjing University of Science and Technology, 2013, Shen Xiaojian. Design and optimization of the frame structure of parallel C-shaped gantry milling machine [D]. Nanjing: Nanjing University of Science and Technology, 2015 respectively published A C-shaped gantry parallel machine tool is a large-space parallel machine tool formed by adding redundant linear sliding to the asymmetric three-translational 3-(2SPS) parallel mechanism. Although the machine tool has a larger machining range than conventional parallel machine tools, due to The upper branch chain seat and the lower branch chain seat are fixed, and the moving platform cannot reach the vicinity of the branch chain seat, that is, the top and bottom of the working space are narrow, and the entire working space is very irregular, which affects the processing adaptability of the machine tool to high or low workpieces , machine tool performance optimization is also limited

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