CN102284795B - Hybrid five-axis laser cutting machine - Google Patents
Hybrid five-axis laser cutting machine Download PDFInfo
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- CN102284795B CN102284795B CN 201110233707 CN201110233707A CN102284795B CN 102284795 B CN102284795 B CN 102284795B CN 201110233707 CN201110233707 CN 201110233707 CN 201110233707 A CN201110233707 A CN 201110233707A CN 102284795 B CN102284795 B CN 102284795B
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Abstract
The invention discloses a hybrid five-axis laser cutting machine and relates to a laser cutting machine with a parallel and hybrid five-axis driving mechanism. The hybrid five-axis laser cutting machine has the characteristics of more flexible structure, larger rigidity, smaller inertia and higher precision and comprises a machine body, an X-direction guide rail, a cross beam, a laser cutting head and a controller, wherein a Y-direction guide rail is arranged on the side surface of the cross beam, and the laser cutting head is movably connected with the Y-direction guide rail on the side surface of the cross beam through a hybrid device; and the hybrid device comprises a Y supporting plate mechanism, a Z supporting plate mechanism, a driving frame, an annular support frame, a pair of driving block mechanisms and a pair of connecting rods. The five-axis motion of the conventional laser cutting head is realized through the hybrid device. As for the hybrid five-axis laser cutting machine, the concept is ingenious, all parts have flexible structures, the rigidity is great, the inertia is small and the motion precision can be further ensured. The laser cutting machine is a product formed by combining the machine tool technology, the robot technology and the numerical control technology, and compared with a traditional series machine tool, the laser cutting machine is simple in structure and is complex and accurate in mathematical operation. The laser cutting machine has the outstanding advantages of large rigidity, fast response, high precision, strong applicability, high technical added value and the like.
Description
Technical field
The present invention relates to the driving mechanism of laser cutting machine, relate in particular to the laser cutting machine of a kind of parallel connection, five driving mechanisms of hybrid type.
Background technology
Plurality of advantages such as laser cutting parameter is fast owing to its speed, joint-cutting is narrow, the heat affected area is little, joint-cutting edge-perpendicular degree is good, side cut is smooth, the cutting material scope is wide are used more and more wider in a lot of fields.Along with the development of laser application technique, the laser cutting of three-dimensional space curve with its advanced person, flexibly, characteristics such as adaptability is strong, numerous areas such as auto industry abroad, aerospace industry have all been obtained widely and have been used.The cutting of use three-dimensional laser not only can be saved model and tooling device, has also shortened the production preparatory period greatly.
Present most of three-dimensional laser cutting machine, the main frame transmission mechanism is series system.The cutting head movement locus control of serial mechanism all is to be based upon in the cartesian coordinate system, the mathematical operation of action control procedure is simple, but complicated in mechanical structure, heaviness, the equipment dynamic responding speed is poor, part life is low, no matter light beam transmits in which way, all needs expensive three-dimensional laser cutting head.
Summary of the invention
The present invention is directed to above problem, provide the series-parallel connection that a kind of structure is dexterousr, rigidity is bigger, inertia is littler, precision is higher five laser cutting machines.
Technical scheme of the present invention is: crossbeam 2, laser cutting head 9 and controller that described laser cutting machine comprises body 1, be located at X-direction guide rail 1a on the body 1, flexibly connect with X-direction guide rail 1a, be provided with Y-direction guide rail 2a in the side of described crossbeam 2, described laser cutting head 9 flexibly connects by the Y-direction guide rail 2a of synchronous hybrid device and described crossbeam 2 sides;
Described synchronous hybrid device comprises Y supporting plate 3 mechanisms, Z supporting plate 4 mechanisms, bogie 7, ring holder 8, a pair of drive block 5 mechanisms and pair of links 6;
Described Y supporting plate 3 mechanisms comprise Y supporting plate 3 and Y supporting plate drive motors; A secondary Y-direction guide-track groove 3b is established at the back side of described Y supporting plate 3, a secondary Z-direction guide rail 3a is established in the front; Described Y supporting plate 3 flexibly connects by described one secondary Y-direction guide-track groove 3b and described Y-direction guide rail 2a; Described Y supporting plate drive motors is located on the described Y supporting plate 3, the described Y supporting plate 3 of driving is done the Y-direction straight reciprocating motion with respect to described crossbeam 2;
Described Z supporting plate 4 mechanisms comprise Z supporting plate 4 and Z supporting plate drive motors; A secondary Z-direction guide-track groove 4b is established at the back side of described Z supporting plate 4, the secondary guide rail 4a of Y-direction and support 4c are established in the front; Described Z supporting plate 4 flexibly connects by described one secondary Z-direction guide-track groove 4b and described one secondary Z-direction guide rail 3a; Described Z supporting plate drive motors is located on the described Z supporting plate 4, the described Z supporting plate 4 of driving is done the Z-direction straight reciprocating motion with respect to described Y supporting plate 3;
Described a pair of drive block 5 mechanisms comprise a pair of drive block 5 and drive block drive motors; Described drive block 5 is provided with the secondary guide-track groove of Y-direction; Described drive block 5 flexibly connects by the secondary guide-track groove of described Y-direction and the secondary guide rail 4a of described Y-direction; Described drive block drive motors is located on the described drive block 5, the described drive block 5 of driving is done the Y-direction linear reciprocating motion with respect to described Z supporting plate 4;
The two side ends that the two side ends of the Y-direction of described ring holder 8 is respectively equipped with hinge pin one 8a, directions X is respectively equipped with pin-and-hole 8b, and described ring holder 8 flexibly connects by described hinge pin one 8a and described support 4c;
Described bogie 7 integral body are the L shape, and establish for the annular Connection Block that laser cutting head is installed the bottom, and the two side ends of described annular Connection Block directions X is respectively equipped with hinge pin two 7b; Described hinge pin two 7b and described pin-and-hole 8b flexibly connect;
One end of described pair of links 6 flexibly connects by universal hinge structure and described drive block 5, and the other end is connected the side of described bogie 7 top Y-directions by universal hinge body;
Described Y supporting plate drive motors, Z supporting plate drive motors and a pair of drive block drive motors are connected controller respectively.
Described universal hinge body is bulb articulated joint or Hooke's hinge joint.
Described crossbeam 2 moves along the X-direction of X-direction guide rail 1a and is the X axis basic exercise of described laser cutting head;
Described Y supporting plate 3 moves Y-axis into described laser cutting head to basic exercise along the Y-direction of Y-direction guide rail 2a;
Described Z supporting plate 4 moves along the Z-direction of Z-direction guide rail 3a and is the axial basic exercise of the Z of described laser cutting head;
Described X, Y, three axial basic exercises of Z constitute the series connection forms of motion of described laser cutting head;
Described ring holder 8 is gone up rotatablely moving of hinge pin one 8a axle center around described support 4c and is the C axially-movable of described laser cutting head;
Described bogie 7 rotatablely moving of hinge pin two 7b axle center on the described ring holder 8 is the A axially-movable of described laser cutting head;
The A of described laser cutting head 9, C axially-movable are passed through separately by described a pair of drive block 5, and connecting rod drives bogie 7 realizations; Described A, C axially-movable constitute the parallel kinematic form of described laser cutting head;
Make described laser cutting head 9 in the axial common movement environment that constitutes of parallel kinematic form of the axial series connection forms of motion of described X, Y, Z and A, C, realize the series-parallel connection 5-axis movement.
The present invention realizes the 5-axis movement (X wherein, Y, Z axle drive and adopt the serial mechanism mode, and A, C axle adopt parallel institution to drive) of conventional laser cutting head by synchronous hybrid device.Its middle cross beam is realized basic X-direction motion with respect to the motion of fuselage; The Y supporting plate is realized basic Y-direction motion; The Z supporting plate is realized basic Z-direction motion; Each autokinesis of a pair of drive block can drive bogie (around A, C axle) by its connecting rod separately and do ± omnidirectional rotation (to realize down the cutting of half spherical space) in 90 ° of scopes; And then realization 5-axis movement.Exquisite composition of the present invention, each component structural dexterity, rigidity is big, and inertia is little, makes kinematic accuracy to be protected.The present invention is the product that machine tool technology, Robotics and Numeric Control Technology combine, and compares with traditional series connection lathe, and is simple in structure, and mathematical operation is precisely complicated.It has, and rigidity is big, response is fast, precision is high, adaptability is strong, the high outstanding advantage of technical value added.
Description of drawings
Fig. 1 is structural representation of the present invention,
Fig. 2 is the amplification view of laser head part of the present invention,
Fig. 3 is the structural representation of synchronous hybrid device among the present invention,
Fig. 4 is that the present invention uses state reference map one,
Fig. 5 is that the present invention uses state reference map two,
Fig. 6 is that the present invention uses state reference map three,
Fig. 7 is the contrary motion simulation schematic diagram of A axle of the present invention,
Fig. 8 is the contrary motion simulation schematic diagram of C axle of the present invention;
Indicate X, Y, the signal of Z three linear movement directions among Fig. 1, indicated A, the signal of the C two direction of rotation directions of motion among Fig. 3;
1 is fuselage among the figure, and 1a is the X-direction guide rail, the 2nd, and crossbeam, 2a are the Y-direction guide rails, the 3rd, Y supporting plate, 3a is the Z-direction guide rail, and 3b is the Y-direction guide-track groove, and the 4th, Z supporting plate, 4a are the secondary guide rails of Y-direction, 4b is the Z-direction guide-track groove, and 4c is support, the 5th, and drive block, 5a are ball-and-sockets one, the 6th, connecting rod, the 7th, bogie, 7a are ball-and-sockets two, 7b is hinge pin two, the 8th, ring holder, 8a are hinge pins one, and 8b is pin-and-hole, the 9th, and laser cutting head, the 10th, workpiece, 10a are holes one, and 10b is hole two, and 10c is hole three.
The specific embodiment
The present invention as Figure 1-3, described laser cutting machine comprises body 1, be located at X-direction guide rail 1a on the body 1, flexibly connect with X-direction guide rail 1a crossbeam 2, laser cutting head 9 and controller, be provided with Y-direction guide rail 2a in the side of described crossbeam 2, described laser cutting head 9 flexibly connects by the Y-direction guide rail 2a of synchronous hybrid device and described crossbeam 2 sides;
Described synchronous hybrid device comprises that Y supporting plate 3 mechanisms, Z supporting plate 4 mechanisms, bogie 7, ring holder 8, a pair of drive block 5 mechanisms and pair of links 6(pair of links are isometric);
Described Y supporting plate 3 mechanisms comprise Y supporting plate 3 and Y supporting plate drive motors; A secondary Y-direction guide-track groove 3b is established at the back side of described Y supporting plate 3, a secondary Z-direction guide rail 3a is established in the front; Described Y supporting plate 3 flexibly connects by described one secondary Y-direction guide-track groove 3b and described Y-direction guide rail 2a; Described Y supporting plate drive motors is located on the described Y supporting plate 3, the described Y supporting plate 3 of driving is done the Y-direction straight reciprocating motion with respect to described crossbeam 2;
Described Z supporting plate 4 mechanisms comprise Z supporting plate 4 and Z supporting plate drive motors; A secondary Z-direction guide-track groove 4b is established at the back side of described Z supporting plate 4, the secondary guide rail 4a of Y-direction and support 4c are established in the front; Described Z supporting plate 4 flexibly connects by described one secondary Z-direction guide-track groove 4b and described one secondary Z-direction guide rail 3a; Described Z supporting plate drive motors is located on the described Z supporting plate 4, the described Z supporting plate 4 of driving is done the Z-direction straight reciprocating motion with respect to described Y supporting plate 3;
Described a pair of drive block 5 mechanisms comprise a pair of drive block 5 and drive block drive motors; Described drive block 5 is provided with the secondary guide-track groove of Y-direction; Described drive block 5 flexibly connects by the secondary guide-track groove of described Y-direction and the secondary guide rail 4a of described Y-direction; Described drive block drive motors is located on the described drive block 5, the described drive block 5 of driving is done the Y-direction linear reciprocating motion with respect to described Z supporting plate 4;
The two side ends that the two side ends of the Y-direction of described ring holder 8 is respectively equipped with hinge pin one 8a, directions X is respectively equipped with pin-and-hole 8b, and described ring holder 8 flexibly connects by described hinge pin one 8a and described support 4c;
Described bogie 7 integral body are the L shape, and establish for the annular Connection Block that laser cutting head is installed the bottom, and the two side ends of described annular Connection Block directions X is respectively equipped with hinge pin two 7b; Described hinge pin two 7b and described pin-and-hole 8b flexibly connect;
One end of described pair of links 6 flexibly connects by universal hinge structure and described drive block 5, and the other end is connected the side of described bogie 7 top Y-directions by universal hinge structure;
Described Y supporting plate drive motors, Z supporting plate drive motors and a pair of drive block drive motors are connected controller respectively.
Described universal hinge structure is bulb articulated joint or Hooke's hinge joint.
Described crossbeam 2 moves along the X-direction of X-direction guide rail 1a and is the X axis basic exercise of described laser cutting head;
Described Y-axis supporting plate 3 moves Y-axis into described laser cutting head to basic exercise along the Y-direction of Y-direction guide rail 2a;
Described Z axle supporting plate 4 moves along the Z-direction of Z-direction guide rail 3a and is the axial basic exercise of the Z of described laser cutting head;
Described X, Y, three axial basic exercises of Z constitute the series connection forms of motion of described laser cutting head;
Described ring holder 8 is gone up rotatablely moving of hinge pin one 8a axle center around described support 4c and is the C axially-movable of described laser cutting head;
Described bogie 7 rotatablely moving of hinge pin two 7b axle center on the described ring holder 8 is the A axially-movable of described laser cutting head;
The A of described laser cutting head 9, C axially-movable are passed through separately by described a pair of drive block 5, and connecting rod drives bogie 7 realizations; Described A, C axially-movable constitute the parallel kinematic form of described laser cutting head;
Make described laser cutting head 9 in the axial common movement environment that constitutes of parallel kinematic form of the axial series connection forms of motion of described X, Y, Z and A, C, realize the series-parallel connection 5-axis movement.
Shown in Fig. 4-6, be example with processing work 10, this workpiece has a plurality of holes that are in the hole of two phase cross surfaces and are in the plane (need cut space curve).Its mesopore one 10a is positioned at the workpiece front end, is on two phase cross surfaces; Hole two 10b are positioned at the workpiece middle part, are on the face of top (putting down); Hole three 10c are positioned at the workpiece rear end, are on two phase cross surfaces.Carry out three-dimensional incision principle, 1. by five-axle linkage realize cutting head with the cutting curved surface normal direction parallel; 2. by the follow-up control method of closed loop, make that the distance between cutting torch and cutting curved surface keeps constant on the cutting head, be referred to as servo technology.Servo-actuated motion also realizes by five-axle linkage.
State when Fig. 4 is machining hole one 10a; Laser cutting head is realized the processing to hole one on the synchronous hybrid device driving bogie 7 of five-axle linkage.
State when Fig. 5 is machining hole two 10b; Identical with the two dimension cutting, only need X, Y-axis interlock, the servo-actuated control of Z axle.
Fig. 6 is the state of machining hole three 10C; Basic pattern with machining hole one 10a.
Fig. 7,8 is for contrary motion simulation curve map: X, Y of the present invention, Z axle need not emulation, because its kind of drive and traditional machine tool do not have any difference.Fig. 7 is the speed time changing curve of two linear drive apparatus of A axle when at the uniform velocity the speed of 270 °/s is rotated; Fig. 8 is the speed time changing curve of two linear drive apparatus of c axle when at the uniform velocity the speed of 270 °/s is rotated; The movement velocity of two linear drives pieces 5 in Vy1 and the Vy2 difference sign picture 1 among the figure.
Claims (3)
1. five laser cutting machines of a series-parallel connection, described laser cutting machine comprises body (1), be located at X-direction guide rail (1a) on the body (1), flexibly connect with X-direction guide rail (1a) crossbeam (2), laser cutting head (9) and controller, be provided with Y-direction guide rail (2a) in the side of described crossbeam (2), it is characterized in that described laser cutting head (9) flexibly connects by the Y-direction guide rail (2a) of synchronous hybrid device and described crossbeam (2) side;
Described synchronous hybrid device comprises Y supporting plate (3) mechanism, Z supporting plate (4) mechanism, bogie (7), ring holder (8), a pair of drive block (5) mechanism and pair of links (6);
Described Y supporting plate (3) mechanism comprises Y supporting plate (3) and Y supporting plate drive motors; A secondary Y-direction guide-track groove (3b) is established at the back side of described Y supporting plate (3), a secondary Z-direction guide rail (3a) is established in the front; Described Y supporting plate (3) flexibly connects by described one secondary Y-direction guide-track groove (3b) and described Y-direction guide rail (2a); Described Y supporting plate drive motors is located on the described Y supporting plate (3), the described Y supporting plate of driving (3) is done the Y-direction straight reciprocating motion with respect to described crossbeam (2);
Described Z supporting plate (4) mechanism comprises Z supporting plate (4) and Z supporting plate drive motors; A secondary Z-direction guide-track groove (4b) is established at the back side of described Z supporting plate (4), the secondary guide rail (4a) of Y-direction and support (4c) are established in the front; Described Z supporting plate (4) flexibly connects by described one secondary Z-direction guide-track groove (4b) and described one secondary Z-direction guide rail (3a); Described Z supporting plate drive motors is located on the described Z supporting plate (4), the described Z supporting plate of driving (4) is done the Z-direction straight reciprocating motion with respect to described Y supporting plate (3);
Described a pair of drive block (5) mechanism comprises a pair of drive block (5) and drive block drive motors; Described drive block (5) is provided with the secondary guide-track groove of Y-direction; Described drive block (5) flexibly connects by the secondary guide-track groove of described Y-direction and the secondary guide rail of described Y-direction (4a); Described drive block drive motors is located at described drive block (5) and goes up, drives described drive block (5) and do the Y-direction linear reciprocating motion with respect to described Z supporting plate (4);
The two side ends that the two side ends of the Y-direction of described ring holder (8) is respectively equipped with hinge pin one (8a), directions X is respectively equipped with pin-and-hole (8b), and described ring holder (8) flexibly connects by described hinge pin one (8a) and described support (4c);
Described bogie (7) integral body is the L shape, and establish for the annular Connection Block that laser cutting head is installed the bottom, and the two side ends of described annular Connection Block directions X is respectively equipped with hinge pin two (7b); Described hinge pin two (7b) flexibly connects with described pin-and-hole (8b);
One end of described pair of links (6) flexibly connects by universal hinge structure and described drive block (5), and the other end is connected the side of described bogie (7) top Y-direction by universal hinge body;
Described Y supporting plate drive motors, Z supporting plate drive motors and a pair of drive block drive motors are connected controller respectively.
2. five laser cutting machines of a kind of series-parallel connection according to claim 1 is characterized in that, described universal hinge body is bulb articulated joint or Hooke's hinge joint.
3. five laser cutting machines of a kind of series-parallel connection according to claim 1 and 2 is characterized in that,
Described crossbeam (2) is the X axis basic exercise of described laser cutting head along the X-direction motion of X-direction guide rail (1a);
Described Y supporting plate (3) along the motion of the Y-direction of Y-direction guide rail (2a) for the Y-axis of described laser cutting head to basic exercise;
Described Z supporting plate (4) is the axial basic exercise of Z of described laser cutting head along the Z-direction motion of Z-direction guide rail (3a);
Described X, Y, three axial basic exercises of Z constitute the series connection forms of motion of described laser cutting head;
Described ring holder (8) is gone up rotatablely moving of hinge pin one (8a) axle center around described support (4c) and is the C axially-movable of described laser cutting head;
Described bogie (7) is gone up rotatablely moving of hinge pin two (7b) axle center around described ring holder (8) and is the A axially-movable of described laser cutting head;
The A of described laser cutting head (9), C axially-movable are passed through separately by described a pair of drive block (5), and connecting rod drives bogie (7) realization; Described A, C axially-movable constitute the parallel kinematic form of described laser cutting head;
Make described laser cutting head (9) in the axial common movement environment that constitutes of parallel kinematic form of the axial series connection forms of motion of described X, Y, Z and A, C, realize the series-parallel connection 5-axis movement.
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| CN103170747B (en) * | 2011-12-26 | 2014-11-05 | 苏州领创激光科技有限公司 | Split type driving structure used for high-speed large-coverage laser cutting machine |
| CN102565076B (en) * | 2012-01-17 | 2013-09-11 | 柳州高华机械有限公司 | On-line detection production line |
| CN103111765B (en) * | 2013-03-20 | 2014-09-17 | 江苏扬力数控机床有限公司 | Three-dimensional laser cutting machine with four-axis-linkage secondary laser head driving device |
| CN106232090B (en) | 2014-05-15 | 2020-07-31 | 宝洁公司 | Oral care compositions comprising polyethylene glycol to provide physical stability |
| BR112016025938B1 (en) | 2014-05-15 | 2020-06-30 | The Procter & Gamble Company | dentifrice compositions containing polyethylene glycol for physical stability and method for treating dental enamel |
| CN104626116A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | 1T, (2R) and 1T four-degree-of-freedom decoupling series-parallel mechanism |
| CN104690715A (en) * | 2015-01-20 | 2015-06-10 | 江南大学 | 1T&(2T)&1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism |
| CN105983787A (en) * | 2015-02-03 | 2016-10-05 | 上海新力机器厂 | Low-inertia high-rigidity fiber laser cutting machine structure |
| CN110238543B (en) * | 2019-07-22 | 2021-04-09 | 江苏大金激光科技有限公司 | Multi-axis laser cutting device |
| CN110480370B (en) * | 2019-09-11 | 2024-05-14 | 沈阳优尼斯智能装备有限公司 | Series-parallel series-parallel connection perpendicularity self-adjusting five-axis linkage numerical control machine tool structure |
| CN110497100A (en) * | 2019-09-24 | 2019-11-26 | 南京英田激光科技有限公司 | A heavy truck frame laser automatic cutting equipment |
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