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CN-122007937-A - High-efficiency overconstrained parallel mechanism equipment for heavy-load milling

CN122007937ACN 122007937 ACN122007937 ACN 122007937ACN-122007937-A

Abstract

The present invention relates to a machine manufacturing apparatus. The purpose is to provide a high-efficient restraint parallel mechanism equipment that faces heavy load and mills to solve in the actual processing scene and add the high quality of frock equipment and the not enough problem of traditional processing equipment precision. The technical scheme is that the high-efficiency over-constraint parallel mechanism equipment for heavy-load milling is characterized by further comprising a door frame-shaped support which is vertically fixed and keeps a distance from a workpiece sliding table, a fixed platform which is vertically movably positioned on the support, a movable platform which is positioned between the workpiece sliding table and the support and is provided with a main shaft head, and three branched chains which are arranged between the fixed platform and the movable platform in parallel, wherein the first branched chain and the second branched chain in the three branched chains respectively comprise a revolute pair, a first movable pair and a Hooke hinge which are sequentially connected between the movable platform and the fixed platform, and the third branched chain comprises a ball pair, a second movable pair and a third movable pair which are sequentially connected between the movable platform and the fixed platform.

Inventors

  • XU LINGMIN
  • ZHANG JIAXUAN
  • TANG CHENXIN
  • CHAI XINXUE
  • LI QINCHUAN

Assignees

  • 浙江理工大学

Dates

Publication Date
20260512
Application Date
20260318

Claims (10)

  1. 1. The high-efficiency over-constrained parallel mechanism equipment for heavy-load milling comprises a workpiece sliding table (9) capable of horizontally moving and provided with a clamp (96), and is characterized by further comprising a door frame-shaped support (1) which is vertically fixed and keeps a distance with the workpiece sliding table, a fixed platform (3) which is vertically movably positioned on the support, a movable platform (7) which is positioned between the workpiece sliding table and the support and is provided with a main shaft head (8), and three branched chains which are arranged between the fixed platform and the movable platform in parallel, wherein the first branched chain (4) and the second branched chain (5) in the three branched chains respectively comprise a revolute pair (41) which is sequentially connected between the movable platform and the fixed platform, a first movable pair and a hook hinge which are provided with a motor, and the third branched chain (6) comprises a ball pair, a second movable pair and a third movable pair which are sequentially connected between the movable platform and the fixed platform.
  2. 2. The high-efficiency over-constraint parallel mechanism equipment for heavy-load milling according to claim 1, wherein the fixed platform (3) is vertically arranged and is flat, three holes which are arranged in a delta shape are formed in the plate surface of the fixed platform in a penetrating manner, the left side and the right side of the fixed platform are respectively positioned on the bracket through the movable platform (2) capable of moving vertically, the first branched chain (4) and the second branched chain (5) are respectively positioned in the two holes on the lower side through Hooke's joint insertion, and the third branched chain (6) is positioned in the hole on the upper side through the third movable pair.
  3. 3. The high-efficiency over-constrained parallel mechanism device for heavy-duty milling as set forth in claim 2, wherein the three branched chains are positioned in three openings of the positioning platform through a rectangular connecting piece, wherein the first connecting piece (47) arranged on the first branched chain and the second branched chain are respectively fixed in two openings on the lower side, the second connecting piece (63) arranged on the third branched chain is positioned in the opening on the upper side in a sliding manner up and down to form the third moving pair, the opening on the upper side is vertically arranged rectangular, and two side outer walls of the arranged connecting piece are respectively provided with vertically arranged slide ways to be in sliding fit with two side edges of the opening, so that the sliding pair can vertically move in the opening.
  4. 4. The high-efficiency over-constrained parallel mechanism equipment for heavy-duty milling according to claim 3, wherein the first connecting piece (47) is a rectangular frame with a top side and a bottom side provided with a shaft hole respectively, and one rotating shaft of the Hooke hinge is vertically arranged and fixed on the first sliding block, and two ends of the rotating shaft are respectively matched with two shaft holes on the rectangular frame; The second connecting piece (63) is a rectangular frame which is vertically arranged, and a second sliding block in the second moving pair is fixed in the second connecting piece.
  5. 5. The high-efficiency over-constrained parallel mechanism equipment for heavy-duty milling as set forth in claim 4, wherein said third movable pair is driven by two linear driving assemblies, each of which comprises a third ball screw (610) vertically positioned at the perforated wall portion through bearing blocks at both ends, a second connecting piece (63) engaged with a nut on the third ball screw, and a third servo motor (69) mounted at the top end of the perforated wall portion and coaxially connected with the third ball screw through a coupling.
  6. 6. The high-efficiency over-constrained parallel mechanism equipment for heavy-duty milling according to claim 5, wherein the first moving pair comprises two first sliding rails (44) arranged on the first base and parallel to the length direction of the first parallel base and first sliding blocks (45) arranged on the first sliding rails, the first ball screw (43) is arranged between the two first sliding rails and provided with first nuts connected with the first sliding blocks, and the first servo motor (410) is fixed on the first base and drives the first ball screw.
  7. 7. The high-efficiency over-constrained parallel mechanism equipment for heavy-duty milling according to claim 6, wherein the second moving pair comprises two second sliding rails (65) arranged on the second base 61 and parallel to the length direction of the second base and second sliding blocks (64) arranged on each second sliding rail, a second ball screw (62) is arranged between the two second sliding rails and is provided with a second nut connected with the second sliding blocks (64), and a second servo motor (67) is fixed on the second base and drives the second ball screw.
  8. 8. The high-efficiency over-constrained parallel mechanism device for heavy-duty milling of claim 7, wherein the first moving pair of the first branched chain and the second branched chain are parallel to the length direction of the respective branched chains, and the second moving pair of the third branched chain is parallel to the length direction of the third branched chain.
  9. 9. The heavy-duty milling oriented efficient overconstrained parallel mechanism device of claim 8, wherein the axes of the two revolute pairs in the first branched chain (4) and the second branched chain (5) are parallel and vertical The two Hooke hinges are connected with two horizontal rotating shafts of the fixed platform (3) and are arranged horizontally, and the axes of the two horizontal rotating shafts are coincident.
  10. 10. The high-efficiency over-constrained parallel mechanism equipment for heavy-duty milling as set forth in claim 9, wherein said moving platform comprises two moving platform bases (21) vertically fixed on the left and right sides of said opening, two moving platform ball screws (29) vertically and rotatably positioned on the two moving platform bases and further provided with nut seats, two moving platform slide rails (28) arranged in parallel with each moving platform ball screw and disposed on both sides of the moving platform ball screw, two moving platform sliders (22) disposed on each moving platform slide rail and connected with said nut seats, and a moving platform servo motor (25) fixed on the moving platform bases and driving said ball screws.

Description

High-efficiency overconstrained parallel mechanism equipment for heavy-load milling Technical Field The invention relates to machinery manufacturing equipment, in particular to parallel mechanism equipment for heavy-duty milling. Background The requirements for large-scale complex special-shaped structural parts are increasing in high-end fields such as aerospace, national defense, military industry, automobile manufacturing and the like, and the parts are processed by heavy-duty milling to realize high-precision processing. Because the parts are hard in material and large in size, stringent requirements are put on the loading capacity, rigidity and machining precision of machining equipment. Traditional heavy-duty milling mainly depends on gantry type numerical control machine tools with serial structures. The machine tool realizes multi-axis motion through serial superposition of the parts such as a machine body, a stand column, a ram, a main spindle box and the like. However, with the continuous increase in processing efficiency, accuracy and dynamic performance requirements, the inherent drawbacks of the tandem structure are increasingly pronounced. Compared with the traditional series mechanism, the parallel mechanism has the advantages of larger rigidity, stronger flexibility, compact structure, large bearing capacity, high positioning precision, excellent posture adjustment capability and the like, is beneficial to the processing and production of the current stage with more diversification, and proves the practical value of the parallel mechanism in milling. Therefore, how to provide a high-efficiency over-constraint parallel mechanism device for heavy-load milling is a problem to be solved by those skilled in the art. Disclosure of Invention The invention aims to overcome the defects in the background technology, and provides high-efficiency over-constraint parallel mechanism equipment for heavy-load milling, so as to solve the problems of high quality of the processing equipment and insufficient precision of the traditional processing equipment in an actual processing scene. The technical scheme of the invention is as follows: The high-efficiency overconstrained parallel mechanism equipment for heavy-load milling comprises a workpiece sliding table which can horizontally move and is provided with a clamp, and is characterized by further comprising a door frame-shaped support which is vertically fixed and keeps a distance with the workpiece sliding table, a fixed platform which can be vertically movably positioned on the support, a movable platform which is positioned between the workpiece sliding table and the support and is provided with a main shaft head, and three branched chains which are arranged between the fixed platform and the movable platform in parallel, wherein a first branched chain and a second branched chain in the three branched chains respectively comprise a revolute pair, a first movable pair provided with a motor and a Hooke hinge which are sequentially connected between the movable platform and the fixed platform, and a second movable pair and a third movable pair which are sequentially connected between the movable platform and the fixed platform and are provided with the motor. The fixed platform is vertically arranged and is in a flat plate shape, three holes which are arranged in a delta shape are formed in the plate surface of the fixed platform in a penetrating mode, the left side and the right side of the fixed platform are respectively positioned on the support through moving platforms capable of moving vertically, the first branched chain and the second branched chain are respectively inserted and positioned in the two holes on the lower side through hook hinges, and the third branched chain is positioned in the hole on the upper side through a third moving pair. The three branched chains are positioned in three openings of the positioning platform through rectangular connecting pieces, wherein first connecting pieces arranged on the first branched chain and the second branched chain are respectively fixed in two openings at the lower side, second connecting pieces arranged on the third branched chain can be positioned in the openings at the upper side in an up-down sliding manner to form the third moving pair, the openings at the upper side are vertically arranged rectangles, and slide ways which are vertically arranged are respectively manufactured on the outer walls of the two sides of the connecting pieces so as to be in sliding fit with the edges of the two sides of the opening, so that the three branched chains can vertically move in the openings. The first connecting piece is a rectangular frame with a shaft hole respectively arranged at the top side and the bottom side, and one rotating shaft of the Hooke hinge is vertically arranged and fixed on the first sliding block, and two ends of the rotating shaft are matched with two shaft holes on the rectangular fram