DE10203011A1 - Machine tool with tool-parallel kinematics has five-member transmission with both guide arms pivoted to each other by third pivot joint - Google Patents

Abstract

The machine tool has two guide arms (3, 4), each with one end linked by a pivot joint (5, 6) to a linear drive (7, 8) on parallel x-axes. The other ends of the guide arms are linked to each other by a third pivot joint (9). One guide arm carries a first tool, e.g. for handling, and the other carries a second one, e.g. for machining.

Description

The invention relates to a machine tool, in particular Woodworking machine, with parallel kinematics for processing one on one an x-y Plane defining machine table positioned workpiece with at least a machining tool guided in the z-axis.

With stationary woodworking machines, the movements in Work area currently almost exclusively with serial kinematic chains realized, with the drive axes for the x, y and z movement behind or are arranged one on top of the other. Mainly machines are used in Bed and portal construction. The achievable rapid traverse speeds are included stationary woodworking machines at a maximum of 120 m / min Working speeds at a maximum of 60 m / min. Handling systems are usually realized in the form of conveyor belts and rolls.

The US-PS 6,025,689 can be a processing system for processing z. B. take printed circuits. On one across the machine table Tool carriers that can be moved on rails are two guide arms articulated at one end, the other end at one Linear drive is articulated in the longitudinal direction of the tool table is movable. The linear drives are controlled by one each a motor driven lead screw. The workpiece to be machined lies in an x-y plane defined by the machine table while the tool is displaceable in the z-axis via an associated drive. The two Guide arms should be light and stiff and can, for. B. from one View aluminum double T profile. As an advantage to this system indicated that the width of the installation space is only slightly larger than that of the Working space.

The invention has for its object the field of application Enlarge machine tool and improve productivity.

This task is based on the machine tool defined at the beginning solved according to the invention by a for movements in the x and y axes used five-link transmission, the two guide arms with one End are pivotally connected to each other via a third joint, wherein at least one guide arm on its associated first joint opposite end area is equipped with a work.

With the construction according to the invention it is possible for stationary Woodworking machines both workpiece processing and Perform workpiece handling using the same x and y axes. there it is possible to extend the work area beyond the surface of the machine table to enlarge. By using e.g. B. a gripper system becomes the possibility created to grip workpieces outside the machine table Feed the machine table and then put it down there. The Scissors kinematics can translate as well as rotatorily to the exact Positioning of the workpiece can be used. The work area in the Contrary to the prior art for drive and guide arm lengths enlarged and the accessibility to the work space is improved. Due to the lower moving masses increases the dynamics of the machine tool with the same drives, which increases overall productivity.

When equipping the second guide arm with a tool, e.g. B. with a handling or a processing tool Positioning the workpiece a z. B. machining with usual Tools possible; Handling and processing are therefore of the same structure possible; additional handling devices can be saved.

It is expedient if the two guide arms are of the same length are, and the two tools lie on a common y-axis, if the first and second joint on a parallel y-axis parallel to this are positioned. This scissor kinematics results in a axisymmetric surface of the work area. By taking advantage of this symmetry z. B. two tools at two points with kinematically the same Use properties. To keep the work space across the width of the To enlarge the machine table, it is useful if the length each guide arm is greater than the distance from the measured in the y direction Guide rail to the opposite edge of the machine table.

Since the length of the guide arms is constant, it is now possible to z. B. lines for dust and chip transport and / or lines for electrical and pneumatic supply of the tools stationary within the Install guide arms. This is particularly important for chip transport Advantage that lines can be used with a low Loss of pressure; on the use of energy-consuming flexible hoses can be dispensed with. Regarding the supply lines, the The advantage is that, apart from the linear guides, there are no cable tows can.

It is also advantageous if the guide arms in lightweight construction as Truss structure are formed. This will integrate an active Vibration damping favors. The application of lightweight structures enables penetration into higher performance ranges. This makes it possible higher feed speeds with increased at the same time Average speed; It is thus possible to shorten main and secondary times constant processing quality.

By using the scissors kinematics provided according to the invention there is no need to carry a serial y-axis; thus the otherwise necessary drive elements and linear guides.

In the construction according to the invention, different Drive concepts such as B. rack, linear direct and / or ball screw drive be used.

To be able to use a variety of different tools, one is rotatable mounting of the tools around the z-axis is provided so that the Orientation of the tool, for example a saw or one Horizontal milling cutter, can be set and adjusted within the work area. to active adaptability of the tools to a changed orientation in the course machining due to displacement of the guide arms are drives intended for rotating the tools, either as electric motors or can be designed as a kinematic coupling with the guide arms. While with electric motors any rotation of the tools is realized remains via a kinematic coupling, for example via a Timing belts or gears that have been set get orientation, however lower masses are moved, which affects the machine tool as a whole faster.

The tools can be used as processing and / or handling tools be trained.

The material flow in the machine tool can be in one direction (with Turning the 5-link gearbox) as well as reversible (without turning the 5-link gearbox). In addition, the machine is through the use of Linear motors are scalable in the x direction, so they can be built as long as you like and with can be equipped with several 5-link gears. This makes them different Fields of application can be covered.

In the drawing is an exemplary embodiment of the invention shown schematically. Show it

Figure 1 is a plan view of a 5-bar mechanism formed positioning and processing system with right facing guide arms.

FIG. 2 shows the system according to FIG. 1 in an isometric view, but with guide arms pointing to the left;

FIG. 3 shows the right end view of the illustration according to FIG. 1;

Fig. 4 is a schematic representation of the machine tool in plan view and

Fig. 5 is a perspective schematic representation of the machine tool.

A workpiece 2 to be machined is positioned on a machine table 1 of a machine tool, not shown, in an xy plane defined by the machine table 1 . For the positioning and machining of this workpiece 2 , a scissor drive designed as a 5-link mechanism is provided, which comprises two guide arms 3 , 4 each having a constant length l. Each of the two guide arms 3 , 4 is articulated with its one end via a first or second joint 5 , 6 to a linear drive 7 , 8 each guided in parallel x-axes and guided on guide rails 17 , 18 . At their other end, the two guide arms 3 , 4 of the same length are pivotally connected to one another via a third joint 9 .

In the illustrated embodiment, the guide arm 3 is equipped at its end region opposite the associated first joint 5 with a workpiece positioning tool 10 in the form of a gripper, while the other guide arm 4 carries at its corresponding end region a machining tool 11 which, for. B. can be equipped with a drill tool spindle. The two tools 10 , 11 lie with their axes on parallel z-axes and are each equipped with their own drives 12 , 13 . Fig. 1 shows that the two tools 10, 11 lie on a common y-axis when the first and second joint 5, 6 on a common parallel thereto y-axis are positioned.

The length l of each guide arm 3 , 4 is preferably somewhat greater than the distance from a guide rail to the opposite edge of the machine table 1 measured in the y direction and thus exceeds its width b. Furthermore, the figures show that the guide arms 3 , 4 are of lightweight construction as a truss structure.

FIG. 4 shows, in a schematic representation in top view a processing station with a workpiece feeder 20 that transports the workpiece on the machine bed 1. After it is in the working area of the machine tool, the workpiece is correspondingly positioned on the machine table 1 by a handling tool 10 arranged on one of the guide arms 3 , 4 , which can be seen in FIG. 5, and machined via a processing tool 11 . In order to carry out the machining at different points on the workpiece, the position of the third joint 9 can be set via linear drives 7 , 8 , in that the linear drives 7 , 8 are moved independently of one another along the guide rails 17 , 18 .

To change the tool, in particular the machining tool 11 , a tool magazine 21 can be approached, on which a corresponding tool change takes place. After completion of the machining, the workpiece is removed from the work area of the tools 10 , 11 via a workpiece removal device 22 and fed to further processing.

In FIG. 5, the basic kinematic structure of the machine tool can be clearly seen, the linear actuators 7 8 can be moved along the guide rails 17, 18 independently of each other. The guide arms 3 , 4 are assigned to the linear drives 7 , 8 via joints 5 , 6 and connected to one another via a common third joint 9 . By appropriate positioning of the linear drives 7 , 8 , it is possible to move the tools 10 , 11 attached to the guide arms 3 , 4 to any point of the working area of the machine table 1 . The tools 10 , 11 , which are designed as handling or processing tools, are advantageously located in the vicinity of the third joint 9 on the guide arms 3 , 4 in order to be able to cover the largest possible working area. Each of the tools 10 , 11 is equipped with its own drive 12 , 13 in order to enable rotation about the z axis and displacement along the z axis. In addition to the use of electric motors, a kinematic coupling of the orientation of the tools 10 , 11 can take place in such a way that when a guide arm 3 , 4 is pivoted, the orientation once set is maintained, so that, for example, when sawing, a regardless of the position of the processing tool within the working area Section perpendicular to the guide rails 17 , 18 is carried out.

Claims (9)

1. Machine tool, in particular woodworking machine, with parallel kinematics for machining a workpiece ( 2 ) positioned on a machine table ( 1 ) defining an xy plane, with at least one tool ( 10 , 11 ) driven or guided in a z-axis, which within the xy plane can be positioned by means of a multi-unit gear used for movements in the x and y axes, which has two constant lengths (l) of guide arms ( 3 , 4 ) which have one end via a joint ( 5 , 6 ) are articulated in a driven linear movement on one each guided in parallel x-axes on guide rails ( 17 , 18 ), characterized by the use of a five-link gear mechanism, the two guide arms ( 3 , 4 ) of which have the other end via a third joint ( 9 ) are pivotally connected to one another, with at least one guide arm ( 3 ; 4 ) on its associated first joint ( 5 ; 6 ) opposite overlying end area with the tool ( 10 ; 11 ) is equipped. 2. Machine tool according to claim 1, characterized in that the other guide arm ( 4 ; 3 ) is also equipped with a tool ( 11 ; 10 ) at its end region opposite the associated first joint ( 6 ; 5 ). 3. Machine tool according to claim 2, characterized in that the two guide arms ( 3 , 4 ) are of the same length and the two tools ( 10 , 11 ) lie on a common y-axis when the first and second joint ( 5 , 6 ) are positioned on a common y-axis parallel to this. 4. Machine tool according to claim 1, 2 or 3, characterized in that the length (l) of each guide arm ( 3 , 4 ) is at least as large as the distance measured in the y-direction from the guide rail ( 17 , 18 ) to the opposite edge of the machine table ( 1 ). 5. Machine tool according to one of the preceding claims, characterized in that suction lines for dust and chips and / or supply lines are passed through within the guide arms ( 3 , 4 ). 6. Machine tool according to one of the preceding claims, characterized in that the guide arms ( 3 , 4 ) are constructed in a lightweight construction as a truss structure. 7. Machine tool according to one of the preceding claims, characterized in that the two tools ( 10 , 11 ) are rotatably mounted about the z-axis. 8. Machine tool according to claim 7, characterized by drives ( 12 , 13 ) for rotating the tools ( 10 , 11 ) about the z-axis. 9. Machine tool according to one of the preceding claims, characterized in that the tools are designed as machining tools ( 10 ) and / or workpiece positioning tools ( 11 ).