Revolute pair hinge mechanism for parallel machine tool and assembly method of revolute pair hinge mechanism

Abstract

The invention relates to the technical field of parallel machine tools, in particular to a revolute pair hinge mechanism for a parallel machine tool and an assembling method thereof.The revolute pair hinge mechanism comprises a sliding plate, a connecting rod and a revolute pair, the sliding plate is connected with the connecting rod through the revolute pair, and the connecting rod is installed on the sliding plate through the revolute pair and does swing angle motion around the axis of the revolute pair; the rotating pair comprises a rotating shaft, an adjusting pad and a turntable bearing; two ends of the rotating shaft are respectively inserted into matching holes in two opposite sides of the sliding plate; the excircle of the rotating shaft is in interference fit with the matching holes; the adjusting pad and the rotary table bearings sleeve the rotating shaft and are fixed on the sliding plate, the adjusting pad is used for adjusting and controlling the mounting distance between the rotary table bearings on the two sides, the inner rings of the rotary table bearings are in transition fit with the outer circle of the rotating shaft, and the outer rings of the rotary table bearings are mounted in bearing holes of the connecting rods and are in transition fit. The revolute pair hinge mechanism for the parallel machine tool and the assembling method of the revolute pair hinge mechanism aim at solving the problems that the parallel machine tool is weak in cutting rigidity and low in machining precision.

Description

Technical Field

[0001] The present invention relates to the technical field of parallel machine tools, and particularly relates to a rotational pair hinge mechanism for a parallel machine tool and an assembly method thereof. Background Art

[0002] A parallel machine tool, also known as a virtual axis machine tool, is a new type of machine tool that emerged at the end of the last century. It is hailed as a major revolution in machine tool structure and a new generation of numerical control machining equipment in the 21st century. It is a new type of numerical control machining equipment based on a spatial parallel mechanism. It overcomes the inherent defects of the traditional serial machine tool structure. In the same scale range, it has the advantages of high modularity, large stiffness-to-weight ratio, light moving parts, fast response speed, strong versatility, high technical added value, etc. It can realize multi-axis numerical control linkage machining and has received extensive attention from relevant research institutions and machine tool manufacturing enterprises at home and abroad.

[0003] The main body of the parallel machine tool is designed based on a spatial parallel mechanism, generally consisting of a stationary platform, a moving platform (including a cutting spindle), and several kinematic chains. Each kinematic chain is in a completely parallel relationship kinematically. Each kinematic chain contains at most one drive, usually composed of a prismatic pair P (with 1 degree of freedom of linear movement), a revolute pair R (with 1 degree of freedom of rotation around an axis), and a spherical pair S (with 3 degrees of freedom of rotation around an axis) and other components combined in a certain structural order.

[0004] In the mechanical structure of a parallel machine tool, the rotational pair hinge and the spherical pair hinge are weak links affecting the static and dynamic rigidity and machining accuracy of the whole machine. In the structural design of the rotational pair hinge, there are currently two common structural forms: one is to use a set of paired angular contact ball bearings or tapered roller bearings, and through face-to-face (or back-to-back) combined configuration, eliminate the clearance between the inner and outer rings of the bearing and the rolling elements, realize bearing preloading, and can obtain high rotational accuracy, but the load-bearing rigidity is insufficient and cannot fully meet the cutting requirements of the parallel machine tool; the other is to use a combined support form of needle bearings and thrust face bearings. Due to the internal clearance of the needle bearings, radial preloading cannot be achieved, resulting in low rotational accuracy of the mechanism and easy generation of cutting vibrations during the machining process. Therefore, the use effect of the rotational pair hinge with this structural form is also not ideal.

[0005] Therefore, the inventor provides a rotational pair hinge mechanism for a parallel machine tool and an assembly method thereof. Summary of the Invention

[0006] (1) Technical Problems to be Solved

[0007] The embodiment of the present invention provides a rotational pair hinge mechanism for a parallel machine tool and an assembly method thereof, which solves the technical problems of weak cutting rigidity and low machining accuracy of the parallel machine tool.

[0008] (2) Technical solution

[0009] The first aspect of the present invention provides a revolute pair hinge mechanism for a parallel machine tool, including a slide plate, a connecting rod, and a revolute pair. The slide plate is connected to the connecting rod through the revolute pair. The slide plate is installed on a linear guide rail and moves linearly under the drive of a servo motor and a ball screw pair. The connecting rod is installed on the slide plate through the revolute pair and performs a swing angle movement around the axis of the revolute pair. The revolute pair includes a rotating shaft, an adjusting pad, and a turntable bearing. Both ends of the rotating shaft are respectively inserted into the mating holes on the opposite sides of the slide plate, and the outer circle of the rotating shaft is in interference fit with the mating holes. The adjusting pad and the turntable bearing are both sleeved on the rotating shaft and fixed on the slide plate. The adjusting pad is used to adjust and control the installation distance between the two turntable bearings. The inner circle of the turntable bearing has a transition fit with the outer circle of the rotating shaft, and the outer circle of the turntable bearing is installed in the bearing hole of the connecting rod and has a transition fit.

[0010] Further, the revolute pair further includes a sealing end cover and a first sealing ring. The sealing end cover is located outside the turntable bearing and is installed on the outer end face of the bearing hole of the connecting rod. A sealing groove is provided on the outer circle of the stop of the sealing end cover, and the first sealing ring is installed in the sealing groove and is used to seal the turntable bearing.

[0011] Further, the revolute pair further includes a second sealing ring. End face sealing grooves are provided at both ends of the slide plate, and the second sealing ring is arranged in the end face sealing grooves and is in sealing contact with the end face of the connecting rod.

[0012] Further, the lower end face of the slide plate is provided with a first mounting surface for connecting with the linear guide rail, and the end face of the slide plate away from the connecting rod is provided with a second mounting surface for connecting with the ball screw pair.

[0013] Further, one end of the connecting rod is provided with a mounting interface for installing a spherical pair hinge.

[0014] Further, the other end of the connecting rod is provided with a relative first earring and a second earring. A first bearing hole is axially provided in the first earring, and a second bearing hole is axially provided in the second earring. Both ends of the two turntable bearings are respectively installed in the corresponding first bearing hole and the second bearing hole.

[0015] Further, the revolute pair further includes lubricating oil cups. The two lubricating oil cups are respectively installed on the lubricating oil holes on the corresponding first earring and the second earring, and the lubricating oil holes are communicated with the lubricating oil grooves on the outer ring of the turntable bearing.

[0016] Further, the middle part of the connecting rod is concave in shape.

[0017] Further, the sealed end cover has a rabbet end face for pressing the outer ring of the rotary table bearing, and a plurality of notches are formed in the circumferential direction of the rabbet end face.

[0018] The second aspect of the present invention provides an assembly method for a rotating pair hinge mechanism of a parallel machine tool, including the following steps:

[0019] Measure the first distance between the inner end faces of the bearing holes on both sides of the connecting rod;

[0020] Measure the second distance between the bearing mounting end faces on both sides of the slide plate;

[0021] Measure the third distance and the fourth distance between the inner and outer ring mounting end faces of the rotary table bearings on both sides respectively;

[0022] Determine the thickness of the adjusting pad according to the first distance, the second distance, the third distance and the fourth distance;

[0023] Install the second sealing ring in the end face sealing groove of the slide plate;

[0024] Screw the lubricating oil cup into the lubricating oil hole of the connecting rod;

[0025] Align the first bearing hole and the second bearing hole on the connecting rod with the corresponding mating holes on the slide plate respectively, and insert both ends of the rotating shaft through the first bearing hole and the second bearing hole and then into the corresponding mating holes;

[0026] Install the adjusting pads and the rotary table bearings at both ends of the rotating shaft;

[0027] Measure the fifth distance between the outer end face of the bearing hole of the connecting rod and the outer ring of the rotary table bearing;

[0028] Calculate the rabbet length of the sealed end cover according to the fifth distance and grind the rabbet end face;

[0029] Install the first sealing ring in the sealing groove of the sealed end cover;

[0030] Install the sealed end cover on the connecting rod so that the rabbet end face presses the outer ring of the rotary table bearing.

[0031] (3) Beneficial effects

[0032] In summary, the present invention is supported by two turntable bearings and has the characteristics of high rotational accuracy and strong load-bearing capacity. After the turntable bearings are installed and fixed, axial and radial preloading can be achieved, and there is no running clearance, which is very suitable for the operating conditions of the rotating pair hinge of the parallel machine tool with low speed and large load. At the same time, an adjusting pad is provided between the inner ring of the turntable bearing and the slide plate. By grinding the adjusting pad, the installation distance between the two turntable bearings on both sides can be accurately adjusted to avoid the generation of additional axial force between the bearings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments of the present invention. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0034] Figure 1 is the main structural view of a rotating pair hinge mechanism for a parallel machine tool provided by an embodiment of the present invention;

[0035] Figure 2 is the top structural view of a rotating pair hinge mechanism for a parallel machine tool provided by an embodiment of the present invention;

[0036] Figure 3 is Figure 1 the structural cross-sectional view of the A-A plane in

[0037] Figure 4 is the installation and application schematic diagram of a rotating pair hinge mechanism for a parallel machine tool provided by an embodiment of the present invention;

[0038] Figure 5 is the structural axonometric view of the slide plate of a rotating pair hinge mechanism for a parallel machine tool provided by an embodiment of the present invention;

[0039] Figure 6 is the main structural view of the slide plate of a rotating pair hinge mechanism for a parallel machine tool provided by an embodiment of the present invention;

[0040] Figure 7 is Figure 6 the structural cross-sectional view of the B-B plane in

[0041] Figure 8 is the structural axonometric view of the connecting rod of a rotating pair hinge mechanism for a parallel machine tool provided by an embodiment of the present invention;

[0042] Figure 9 is the main structural view of the connecting rod of a rotating pair hinge mechanism for a parallel machine tool provided by an embodiment of the present invention;

[0043] Figure 10It is the top view of the structure of the connecting rod of a revolute pair hinge mechanism for a parallel machine tool provided by an embodiment of the present invention;

[0044] Figure 11 is Figure 9 the sectional view of the structure of the C-C plane in;

[0045] Figure 12 It is the schematic diagram of the structure of the sealing end cover of a revolute pair hinge mechanism for a parallel machine tool provided by an embodiment of the present invention;

[0046] Figure 13 is Figure 12 the sectional view of the structure of the D-D plane in;

[0047] Figure 14 It is the flow chart of an assembly method of a revolute pair hinge mechanism for a parallel machine tool provided by an embodiment of the present invention.

[0048] In the figure:

[0049] 1 - Slide plate; 101 - Matching hole; 102 - End face sealing groove; 103 - First mounting surface; 104 - Second mounting surface; 2 - Connecting rod; 201 - Mounting interface; 202 - First earring; 203 - Second earring; 204 - First bearing hole; 205 - Second bearing hole; 206 - Lubricating oil hole; 3 - Revolute pair; 301 - Rotating shaft; 302 - Adjusting pad; 303 - Turntable bearing; 304 - Sealing end cover; 3041 - Sealing groove; 3042 - Stopping port end face; 3043 - Notch; 305 - First sealing ring; 306 - Second sealing ring; 307 - Lubricating oil cup; 4 - Electric spindle; 5 - Moving platform; 6 - Static platform; 7 - Servo motor; 8 - Ball screw pair; 9 - Linear guide; 10 - Spherical pair hinge. Specific embodiments

[0050] The following further describes in detail the embodiments of the present invention in conjunction with the drawings and embodiments. The following detailed description of the embodiments and the drawings are used to exemplarily illustrate the principle of the present invention, but cannot be used to limit the scope of the present invention, that is, the present invention is not limited to the described embodiments, and covers any modifications, substitutions and improvements of parts, components and connection methods without departing from the spirit of the present invention.

[0051] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0052] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the products of the present invention are usually placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0053] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "set" and "install" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] Figure 1 is a schematic structural diagram of a revolute pair hinge mechanism for a parallel machine tool provided by an embodiment of the present invention. Refer to Figure 1 - 4 , the revolute pair hinge mechanism may include a slide plate 1, a connecting rod 2, and a revolute pair 3. The slide plate 1 is connected to the connecting rod 2 through the revolute pair 3. The slide plate 1 is installed on a linear guide 9 and moves linearly under the drive of a servo motor 7 and a ball screw pair 8. The connecting rod 2 is installed on the slide plate 1 through the revolute pair 3 and makes a swing angle movement around the axis of the revolute pair 3. The revolute pair 3 includes a rotating shaft 301, an adjusting pad 302, and a turntable bearing 303. Both ends of the rotating shaft 301 are inserted into the mating holes 101 on the opposite sides of the slide plate 1, and the outer circle of the rotating shaft 301 is in interference fit with the mating holes 101. The adjusting pad 302 and the turntable bearing 303 are both sleeved on the rotating shaft 301 and fixed on the slide plate 1. The adjusting pad 302 is used to adjust and control the installation distance between the two turntable bearings 303. The inner ring of the turntable bearing 303 is in transitional fit with the outer circle of the rotating shaft 301, and the outer ring of the turntable bearing 303 is installed in the bearing hole of the connecting rod 2 and is in transitional fit.

[0055] In the above embodiment, as Figure 4As shown in the figure, the rotary pair hinge can be applied to the swing angle milling head adopting a 3-PRS three-degree-of-freedom parallel mechanism. The supporting structure of the rotary pair hinge mainly adopts two YRT rotary table bearings with an inner diameter of φ80mm. Since the YRT rotary table bearing is a thrust / radial combined bearing, it has the characteristics of compact structure and high running accuracy, and can bear the combined action of radial load, bidirectional axial load and overturning moment. After installation and fixation, axial and radial preloading can be achieved, there is no running clearance, and it has high rotational accuracy and load-bearing rigidity. The rotating shaft 301 is designed as a detachable independent part and is installed and fixed on the slide plate 1 through a slight interference fit of the spigot and screw connection, which can not only ensure the necessary structural rigidity but also facilitate the machining and assembly of parts.

[0056] In this rotary pair hinge, the inner ring of the rotary table bearing 303 is installed on the slide plate 1, and the outer ring is installed on the connecting rod 2 to realize the relative swing between the slide plate 1 and the connecting rod 2. For the convenience of assembly, as Figure 5 - 7 shown, mating holes 101 are machined on both sides of the slide plate 1. One end of the rotating shaft 301 is inserted into the mating hole 101, and the rotating shaft 301 is fixed in the mating hole 101 of the slide plate 1 through screws. A slight interference fit is adopted between the outer circle of the rotating shaft 301 and the mating hole 101 to ensure the necessary mating rigidity. The inner ring of the rotary table bearing 303 is installed on the rotating shaft 301 to achieve centering fit. A transition fit is adopted between the inner ring of the rotary table bearing 303 and the rotating shaft 301 to facilitate loading and unloading. An adjusting pad 302 is arranged between the rotary table bearing 303 and the slide plate 1, which is used to accurately adjust the installation distance between the two rotary table bearings 303 and prevent additional axial force from being generated between the rotary table bearings 303 on both sides. The inner ring of the rotary table bearing 303 and the adjusting pad 302 are fixed together on the outer end face of the mating hole 101 of the slide plate 1 through screws. At the same time, an end face sealing groove 102 is also machined on this end face, and a second sealing ring 306 is installed in the end face sealing groove 102. The second sealing ring 306 can be a V-shaped sealing ring, which is used to prevent external foreign matters from entering the inside of the rotary table bearing 303 through the narrow gap between the slide plate 1 and the connecting rod 2, resulting in abnormal wear of the bearing.

[0057] As an alternative embodiment, as Figure 3 shown, the rotary pair 3 further includes a sealing end cover 304 and a first sealing ring 305. The sealing end cover 304 is located outside the rotary table bearing 303 and is installed on the outer end face of the bearing hole of the connecting rod 2. A sealing groove 3041 is provided on the outer circle of the spigot of the sealing end cover 304, and the first sealing ring 305 is installed in the sealing groove 3041 and is used to seal the rotary table bearing 303. Among them, the first sealing ring 305 can be an O-shaped sealing ring, which is used for sealing and protecting the bearing space.

[0058] As an alternative embodiment, as Figure 5As shown in the figure, the lower end surface of the skateboard 1 is provided with a first mounting surface 103 for connecting with the linear guide 9, and the end surface of the skateboard 1 away from the connecting rod 2 is provided with a second mounting surface 104 for connecting with the ball screw pair 8. As Figure 8 shown, one end of the connecting rod 2 is provided with a mounting interface 201 for mounting the spherical pair hinge 10.

[0059] As an alternative implementation, as Figure 10 - 11 shown, the other end of the connecting rod 2 is provided with opposite first earring 202 and second earring 203. The first earring 202 is axially provided with a first bearing hole 204, and the second earring 203 is axially provided with a second bearing hole 205. Both ends of the two turntable bearings 303 are respectively installed in the corresponding first bearing hole 204 and second bearing hole 205.

[0060] As an alternative implementation, as Figure 3 shown, the rotating pair 3 further includes a lubricating oil cup 307. The two lubricating oil cups 307 are respectively installed in the lubricating oil holes 206 on the corresponding first earring 202 and second earring 203. The lubricating oil holes 206 are communicated with the lubricating oil grooves on the outer ring of the turntable bearing 303. Among them, grease is injected into the lubricating oil hole 206 through the lubricating oil cup 307, and the grease enters the inside of the turntable bearing 303 along the outer ring oil groove of the turntable bearing 303, realizing the process of supplementary greasing and relubrication of the turntable bearing 303.

[0061] As an alternative implementation, as Figure 9 shown, the middle part of the connecting rod 2 is in a concave shape. Specifically, the middle part of the connecting rod 2 is designed to be in a concave shape, which is beneficial to reducing the movement interference between the connecting rod 2 and the electric spindle 4 and increasing the movement space of the mechanism.

[0062] As an alternative implementation, as Figure 12 - 13 shown, the sealing end cover 304 has a stop end face 3042 for pressing the outer ring of the turntable bearing 303. The stop end face 3042 is provided with a plurality of notches 3043 along its circumferential direction. Among them, during the assembly process, by grinding the stop end face 3042, the actual value of the dimension h is accurately controlled, so that the stop end face 3042 presses the outer ring of the turntable bearing 303 to enhance the axial mounting rigidity of the turntable bearing 303. A plurality of notches 3043 evenly distributed along the circumferential direction are processed on the stop end face 3042 to avoid the mounting screws on the outer ring of the turntable bearing 303 and prevent structural interference.

[0063] Figure 14 is a schematic flow chart of an assembly method for a rotating pair hinge mechanism of a parallel machine tool provided by an embodiment of the present invention. Refer to Figure 14 , this method may include the following steps:

[0064] S701. Measure the first distance L1 between the inner end faces of the bearing holes on both sides of the connecting rod 2 (as Figure 3 shown).

[0065] S702. Measure the second distance L2 between the bearing mounting end faces on both sides of the slide plate 1 (as Figure 3 shown).

[0066] S703. Measure the third distance L3 and the fourth distance L4 between the inner and outer mounting end faces of the inner and outer rings of the turntable bearings 303 on both sides respectively (as Figure 3 shown).

[0067] Here, it should be noted that there is no specific limitation on the sequence of the measurement steps for the first distance L1, the second distance L2, the third distance L3, and the fourth distance L4 (i.e., steps S701, S702, and S703), as long as the corresponding measurement results can be obtained.

[0068] S704. Determine the thickness t of the adjusting pad 302 based on the first distance L1, the second distance L2, the third distance L3, and the fourth distance L4 (as Figure 3 shown).

[0069] Specifically, the calculation formula is:

[0070] t = (L1 - L2 - L3 - L4) / 2.

[0071] S705. Install the second sealing ring 306 into the end face sealing groove 101 of the slide plate 1.

[0072] S706. Screw the lubricating oil cup 307 into the lubricating oil hole 206 of the connecting rod 2.

[0073] S707. Align the first bearing hole 204 and the second bearing hole 205 on the connecting rod 2 with the corresponding mating holes 101 on the slide plate 1 respectively, and insert both ends of the rotating shaft 301 through the first bearing hole 204 and the second bearing hole 205 and then into the corresponding mating holes 101; install and tighten the connecting screws.

[0074] S708. Install the adjusting pads 302 and the turntable bearings 303 at both ends of the rotating shaft 301.

[0075] Specifically, install the inner and outer ring connection screws of the turntable bearing 304 and tighten them according to the specified torque.

[0076] S709. Measure the fifth distance L5 and the sixth distance L6 between the outer end face of the bearing hole of the connecting rod 2 and the outer ring of the turntable bearing 303 (as Figure 3 shown).

[0077] S710. Calculate the stop length h of the sealing end cover 304 based on the fifth distance L5 (or the sixth distance L6) (as shown in Figure 3 ), and grind the end face 3042 of the stop.

[0078] Specifically, the calculation formula is:

[0079] h = L5 + 0.03, or h = L6 + 0.03.

[0080] S711. Install the first sealing ring 305 in the sealing groove 3041 of the sealing end cover 304.

[0081] S712. Install the sealing end cover 304 on the connecting rod 2 so that the end face 3042 of the stop presses against the outer ring of the turntable bearing 303.

[0082] Specifically, install the connecting screws and tighten them to the specified torque.

[0083] It should be clear that each embodiment in this specification is described in a progressive manner. For the same or similar parts between each embodiment, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments. The present invention is not limited to the specific steps and structures described above and shown in the figures. And, for the sake of simplicity, the detailed description of known method technologies is omitted here.

[0084] The above are only the embodiments of the present application and do not limit the present application. Without departing from the scope of the present invention, various changes and modifications can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A revolute pair hinge mechanism for a parallel machine tool, characterized in that, It includes a skateboard (1), a connecting rod (2) and a rotating pair (3). The skateboard (1) is connected to the connecting rod (2) through the rotating pair (3). The skateboard (1) is installed on a linear guide rail (9) and moves linearly under the drive of a servo motor (7) and a ball screw pair (8). The connecting rod (2) is installed on the skateboard (1) through the rotating pair (3) and makes a swinging motion around the axis of the rotating pair (3). Among them, the rotating pair (3) includes a rotating shaft (301), an adjusting pad (302) and a turntable bearing (303). Both ends of the rotating shaft (301) are inserted into the mating holes (101) on the opposite sides of the skateboard (1), and the outer circle of the rotating shaft (301) is in interference fit with the mating hole (101). The adjusting pad (302) and the turntable bearing (303) are both sleeved on the rotating shaft (301) and fixed on the skateboard (1). The adjusting pad (302) is used to adjust and control the installation distance between the two turntable bearings (303). The inner ring of the turntable bearing (303) is in transitional fit with the outer circle of the rotating shaft (301), and the outer ring of the turntable bearing (303) is installed in the bearing hole of the connecting rod (2) and is in transitional fit.

2. The revolute pair hinge mechanism for a parallel machine tool according to claim 1, characterized in that The rotating pair (3) further includes a sealing end cover (304) and a first sealing ring (305). The sealing end cover (304) is located outside the turntable bearing (303) and is installed on the outer end face of the bearing hole of the connecting rod (2). A sealing groove (3041) is provided on the outer circle of the stop of the sealing end cover (304). The first sealing ring (305) is installed in the sealing groove (3041) and is used to seal the turntable bearing (303).

3. The revolute pair hinge mechanism for a parallel machine tool according to claim 2, characterized in that, The rotating pair (3) further includes a second sealing ring (306). End face sealing grooves (102) are provided at both ends of the skateboard (1). The second sealing ring (306) is arranged in the end face sealing groove (102) and is in sealing fit with the end face of the connecting rod (2).

4. The revolute pair hinge mechanism for a parallel machine tool according to claim 1, wherein The lower end face of the skateboard (1) is provided with a first mounting surface (103) for connecting with the linear guide rail (9), and the end face of the skateboard (1) far from the connecting rod (2) is provided with a second mounting surface (104) for connecting with the ball screw pair (8).

5. The revolute pair hinge mechanism for a parallel machine tool according to claim 3, wherein One end of the connecting rod (2) is provided with a mounting interface (201) for installing a spherical pair hinge (10).

6. The revolute pair hinge mechanism for a parallel machine tool according to claim 5, characterized in that The other end of the connecting rod (2) is provided with a relative first earring (202) and a second earring (203). A first bearing hole (204) is axially provided in the first earring (202), and a second bearing hole (205) is axially provided in the second earring (203). Both ends of the two turntable bearings (303) are respectively installed in the corresponding first bearing hole (204) and the second bearing hole (205).

7. The revolute pair hinge mechanism for a parallel machine tool according to claim 6, characterized in that, The rotating pair (3) further includes a lubricating oil cup (307). Two of the lubricating oil cups (307) are respectively installed in the lubricating oil holes (206) on the corresponding first earring (202) and the second earring (203). The lubricating oil holes (206) communicate with the lubricating oil grooves on the outer ring of the turntable bearing (303).

8. The revolute pair hinge mechanism for a parallel machine tool according to any one of claims 1-7, characterized in that, The middle part of the connecting rod (2) is concave in shape.

9. The revolute pair hinge mechanism for a parallel machine tool according to claim 7, characterized in that, The sealing end cover (304) has a rabbet end face (3042) for pressing the outer ring of the turntable bearing (303). A plurality of notches (3043) are provided along the circumferential direction of the rabbet end face (3042).

10. An assembling method for a revolute pair hinge mechanism of a parallel machine tool as described in any one of claims 9, characterized in that, The method includes the following steps: Measure the first distance between the inner end faces of the bearing holes on both sides of the connecting rod (2); Measure the second distance between the bearing mounting end faces on both sides of the slide plate (1); Measure the third distance and the fourth distance between the inner ring and the outer ring mounting end faces of the turntable bearings (303) on both sides respectively; Determine the thickness of the adjusting pad (302) according to the first distance, the second distance, the third distance and the fourth distance; Install the second sealing ring (306) in the end face sealing groove (101) of the slide plate (1); Screw the lubricating oil cup (307) into the lubricating oil hole (206) of the connecting rod (2); Align the first bearing hole (204) and the second bearing hole (205) on the connecting rod (2) with the corresponding mating holes (101) on the slide plate (1) respectively, and insert the two ends of the rotating shaft (301) through the first bearing hole (204) and the second bearing hole (205) respectively and then into the corresponding mating holes (101); Install the adjusting pads (302) and the turntable bearings (303) at both ends of the rotating shaft (301); Measure the fifth distance between the outer end face of the bearing hole of the connecting rod (2) and the outer ring of the turntable bearing (303); Calculate the rabbet length of the sealing end cover (304) according to the fifth distance and grind the rabbet end face (3042); Install the first sealing ring (305) in the sealing groove (3041) of the sealing end cover (304); Install the sealing end cover (304) on the connecting rod (2) so that the rabbet end face (3042) presses the outer ring of the turntable bearing (303).

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