CN104553558A - Carving machine with series-parallel structure - Google Patents

Carving machine with series-parallel structure Download PDF

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Publication number
CN104553558A
CN104553558A CN201510058935.XA CN201510058935A CN104553558A CN 104553558 A CN104553558 A CN 104553558A CN 201510058935 A CN201510058935 A CN 201510058935A CN 104553558 A CN104553558 A CN 104553558A
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CN
China
Prior art keywords
telescopic
horizontal
servomotor
chain
engraving machine
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Pending
Application number
CN201510058935.XA
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Chinese (zh)
Inventor
罗继曼
张东跃
张晓丹
崔艳楠
李根标
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Shenyang Jianzhu University
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Shenyang Jianzhu University
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Priority to CN201510058935.XA priority Critical patent/CN104553558A/en
Publication of CN104553558A publication Critical patent/CN104553558A/en
Pending legal-status Critical Current

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Abstract

A carving machine with a series-parallel structure belongs to a technical field and comprises a series truss and a parallel processing head, wherein the series truss is in a bidirectional movable gantry structure for achieving X-axis movement and Y-axis movement; the parallel processing head has three degrees of freedom and is suspended on the bidirectional movable gantry structure; the bidirectional movable gantry structure comprises a gantry frame, a concave base, horizontal X-axis moving devices and a horizontal Y-axis moving device; the gantry frame is connected with the concave base through the horizontal X-axis moving devices; and the parallel processing head is suspended on a longitudinal beam of the gantry frame through the horizontal X-axis moving devices. The carving machine has five degrees of freedom, can realize three-translation and two-rotation motion, and is convenient for processing of a pentahedron under the condition of one-time clamping. The carving machine can finish caving processing of a multi-angle complicate curved surface at one step, can improve the processing quality and the production efficiency and shortens the processing time.

Description

series parallel type structure engraving machine
Technical field
The invention belongs to engraving field of mechanical technique, particularly relate to a kind of series parallel type structure engraving machine.For the novel device of the ornament materials such as timber, stone material 3 D stereo Carving Machining.
Background technology
The processing head of existing engraving lathe is series-mode frame, along the translation of X, Y, Z tri-coordinate directions, can only can not realize the rotation around two change in coordinate axis direction, complicated three-dimensional profile difficulty of processing can be made like this to strengthen, there will be multiple clamping, waste process time.
Existing engraving lathe can only be used for plane machining mostly, seldom can carry out 3 D stereo processing, and if any, be also fill rotating shaft fixture in machine table, processing head coordinates should not realize with the motion of clamp turntable.And large multiple-rotor fixture only has a rotational freedom, can not realize Double-directional rotary.
It is simple that serial configured has structure, and cost is low, and control simple, the advantages such as space is large, have been successfully applied to a lot of field, as various lathe, and assembly shop etc.The research of parallel architecture is started late compared with series connection, and due to parallel architecture, to have precision high, and rigidity is large, and bearing capacity is strong, the advantages such as end piece inertia is little, and at a high speed, the occasion of large bearing capacity has clear superiority.
Now, parallel institution for flight simulator, Digit Control Machine Tool etc., but rarely has use in Carving Machining.The domestic and international research to adopting parallel institution to realize the device of Carving Machining at present rarely has report, does not also have the shaping processing of engraving lathe for timber, stone material that parallel institution is housed so far.
Summary of the invention
For the technical problem of above-mentioned existence, the invention provides a kind of series parallel type structure engraving machine.It can realize five-axle linkage processing, reduces the number of times that is installed, and saves man-hour; Improve crudy, machining accuracy and process velocity; Three dimensional sculpture and the processing of decorated articles is completed with high-quality and high efficiency advantage.
The object of the invention is to be achieved through the following technical solutions:
The present invention includes tandem truss and processing head in parallel, described tandem truss is realize the two-way removable gantry structure along X, Y-axis movement, described processing head in parallel has three degree of freedom, be suspended on described removable gantry structure, described two-way removable gantry structure comprises gantry frame, matrix base, horizontal X shaft moving device and horizontal Y-axis mobile device, described gantry frame is connected on matrix base by horizontal X shaft moving device, and processing head in parallel is suspended on gantry frame longeron by horizontal Y-axis mobile device.
Further, described horizontal X shaft moving device comprises the gear of the cooperation transmission that two frames that matrix base is connected with gantry frame are respectively equipped with, two tooth bars and connects the servomotor of driven wheel, the synchronous drived control of both sides servomotor.
Further, described horizontal Y-axis mobile device comprises the ball-screw be arranged on longeron, screw, slide rail, connection sliding block and the first motor, described first motor connects ball-screw, the screw coordinated with leading screw is fixed on connection sliding block, described connection sliding block coordinates with the slide rail that stringer sides is installed and slides, and the other end connects processing head in parallel.
Further, described processing head in parallel comprises moving platform, silent flatform, electro spindle cutting tool, three drive chains and a constraint chain, described constraint chain is Telescopic rod structure, and its one end is connected with silent flatform by Hooke's hinge, and the other end is fixed on moving platform by sleeve arrangement; Article three, drive chain structure is identical, along constraint chain circumference, is expansion link, and its one end is connected with silent flatform by Hooke's hinge, and the other end is connected with moving platform by spherical hinge; With respective servomotor on each drive chain, driven by servomotor expansion link rotates and elongates or shortens, and connect electro spindle cutting tool below the moving platform of constraint chain lower end, constraint chain is vertical with moving platform, electro spindle axis and constraint chain dead in line.
Further, described drive chain expansion link is made up of inside and outside two sleeves, connected by the secondary mode of slippage, specifically comprise Hooke coupling head, coupling spindle, flexible overcoat I, keyway telescopic inner sleeve, flexible overcoat II, leading screw, positioning end cover, shaft coupling, servomotor, described servomotor connects leading screw one end by shaft coupling, the leading screw other end is fixed with slide key cover, slides along telescopic inner sleeve inwall; The nut coordinated with leading screw is connected to one end of telescopic inner sleeve, telescopic inner sleeve and flexible overcoat I one end connect firmly, its flexible overcoat I other end connects Hooke coupling head by coupling spindle, flexible overcoat II one end is connected on flexible overcoat I, and the other end is connected on leading screw near shaft coupling end by positioning end cover.
Further, described flexible overcoat II is provided with sealing baffle with flexible overcoat I link.
Further, described flexible overcoat I is connected by back-up ring with between telescopic inner sleeve.
Further, described constraint chain expansion link comprises constraint chain telescopic, connecting rod, dive key and long nut, described connecting rod one end is placed in constraint chain telescopic, the other end is connected with moving platform by spherical hinge, telescopic connects long nut, with the external screw thread coordinated with long nut on connecting rod, the connecting rod in telescopic is arranged with dive key, telescopic end is consolidated in silent flatform by silent flatform Hooke's hinge; And this end stretches out silent flatform, be connected by shaft coupling and servomotor.
Further, described telescopic is arranged on silent flatform Hooke's hinge by pair of horns contact ball bearing.
Beneficial effect of the present invention is:
1. the present invention adopts series parallel type structure as the main body of engraving machine, is specifically made up of tandem truss and processing head two parts in parallel, and tandem truss adopts two-way removable gantry structure, can realize the movement along X, Y-axis; Processing head adopts a kind of 3-freedom parallel mechanism of Constrained chain, and this shunting means can realize rotating along Z-direction translation with along X and Y direction.Series parallel type engraving machine complete machine has five frees degree, can realize three translations, two rotational motions, carries out five-sided machining under being convenient to the situation that is once installed.
2. the present invention had both retained the stationarity of the lathe bed line slideway motion of traditional engraving machine, turn increase the advantages such as parallel robot is efficient, flexible, high accuracy, high rigidity, disposablely can complete multi-angle, complex-curved Carving Machining, crudy can be improved, ensure the uniformity of the handicraft decorative such as stone material, timber effect, can enhance productivity again, reduce process time.
3. the present invention adopts the structure that series connection truss combines with parallel operation head, change original engraving machine single version, this equipment can realize three translational degree of freedom and two rotational freedoms, five-axle linkage processing can be realized, both the advantages such as the working space of serial configured is large had been remained, turn improve the flexibility of processing head, improve the machining accuracy of complete machine, the rigidity of structure and speed, have control convenient, inertia force is little, crudy advantages of higher, can change the processing limitation of traditional engraving machine.
Accompanying drawing explanation
Fig. 1 is three-dimensional stereo model figure of the present invention.
Fig. 2 is the graphics of parallel operation head in Fig. 1.
Fig. 3 is drive chain and hinge assemblies figure in Fig. 2.
Fig. 4 is drive chain expansion link cross-sectional schematic in Fig. 3.
Fig. 5 is constraint chain structure cross-sectional schematic in Fig. 3.
In figure: 1. parallel operation head; 2. tandem truss; 21. gantry frames, 22. matrix bases, 23. horizontal Y-axis mobile devices, 231. tooth bars, 24. horizontal X shaft moving devices, 241. first motors, 242. ball-screws, 243. slide rails, 244. slide blocks, 245. screws, 246. longerons, 3. silent flatform; 31. silent flatform Hooke's hinges; 4. fixed cover; 5. constraint chain, 51. constraint chain telescopics, 52. connecting rods, 53. long nuts, 54. spherical hinges, 55. dive keys; 6. moving platform; 61. moving platform Hooke's hinges; 7. electro spindle cutting tool; 8. drive chain expansion link; 801. Hooke coupling heads; 802. coupling spindle; 803. flexible overcoats I; 804. sealing baffle; 805. telescopic inner sleeve; 806. flexible overcoats II; 807. leading screw; 808. bearing washer; 809. positioning end cover; 810. shaft coupling; 811. servomotor; 812. locking nut; 813. axle sleeve; 814. bearing (ball) cover; 815. angular contact ball bearing; 816. nut; 817. slide key covers, 818. back-up rings.
Detailed description of the invention
Below by embodiment and accompanying drawing, the invention will be further described.
Embodiment: as shown in Figure 1, the present invention includes tandem truss 2 and processing head in parallel 1, described tandem truss 2 is for realizing along X, the two-way removable gantry structure of Y-axis movement, described processing head in parallel 1 has three degree of freedom, be suspended on described removable gantry structure, described two-way removable gantry structure comprises gantry frame 21, matrix base 22, horizontal X shaft moving device 24 and horizontal Y-axis mobile device 23, described gantry frame 21 is connected on matrix base 22 by horizontal X shaft moving device, processing head 1 in parallel is suspended on the longeron 23 of gantry frame 21 by horizontal Y-axis mobile device.
Described horizontal X shaft moving device 23 comprises the gear of the cooperation transmission that two frames that matrix base 22 is connected with gantry frame 21 are respectively equipped with, two tooth bars 231 and connects the servomotor of driven wheel, the synchronous drived control of both sides servomotor.
Described horizontal Y-axis mobile device 24 comprises the ball-screw 242 be arranged on gantry frame longeron 246, screw 245, slide rail 243, connection sliding block 245 and the first motor 241, described first motor 241 connects ball-screw 242, the screw 245 coordinated with leading screw 242 is fixed on connection sliding block 244, described connection sliding block 244 coordinates with the slide rail 243 that longeron 246 side is installed and slides, and the other end connects processing head 1 in parallel.
As shown in Figure 2 and Figure 3, described processing head in parallel 1 comprises moving platform 6, silent flatform 3, electro spindle cutting tool 7, three drive chains 5 and a constraint chain 5, described constraint chain 5 is Telescopic rod structure, its one end is connected with silent flatform 3 by silent flatform Hooke's hinge 31, and the other end is fixed on moving platform 6 by sleeve arrangement; Article three, drive chain 8 structure is identical, along constraint chain 5 circumference, is expansion link, and drive chain 8 one end is connected with silent flatform 3 by silent flatform Hooke's hinge 31, and the other end is connected with moving platform 6 by spherical hinge; With respective servomotor on each drive chain 8, driven by servomotor expansion link rotates and elongates or shortens, by fixed cover, electro spindle cutting tool 7 is installed below the moving platform 6 of constraint chain 5 lower end, the direction of constraint chain 4 remains vertical with moving platform 6 direction, the axis of electro spindle cutting tool 7 and constraint chain 5 dead in line.Constraint chain 5 plays constraint parallel institution along X, Y translation and the effect around Z axis rotation.
As shown in Figure 4, described drive chain expansion link 8 is made up of inside and outside two sleeves, connected by the secondary mode of slippage, specifically comprise Hooke coupling head 801, coupling spindle 802, flexible overcoat I 803, telescopic inner sleeve 805, flexible overcoat II 806, leading screw 807, positioning end cover 809, shaft coupling 810, servomotor 811, described servomotor 811 connects leading screw 807 one end by shaft coupling 810, leading screw 807 other end is fixed with slide key cover 817, slides along telescopic inner sleeve 805 inwall; The nut 16 coordinated with leading screw 807 is connected to one end of telescopic inner sleeve 805, telescopic inner sleeve 805 and flexible overcoat I 803 one end connect firmly, its flexible overcoat I 803 other end connects Hooke coupling head 801 by coupling spindle 802, flexible overcoat II 806 one end is connected on flexible overcoat I 803, and the other end is connected on leading screw 807 near shaft coupling 802 end by positioning end cover 809.
Described flexible overcoat II 806 is provided with sealing baffle 4 with flexible overcoat I 803 link.
Described flexible overcoat I 803 is connected by back-up ring 818 with between telescopic inner sleeve 805.
As shown in Figure 5, described constraint chain expansion link 5 comprises constraint chain telescopic 51, connecting rod 52, dive key 55 and long nut 53, described connecting rod 52 one end is placed in constraint chain telescopic 51, the other end is connected with moving platform 6 by spherical hinge 54, telescopic 51 connects long nut 53, with the external screw thread coordinated with long nut 53 on connecting rod 52, connecting rod 52 in constraint chain telescopic 51 is arranged with dive key 55, and constraint chain telescopic 51 end is consolidated in silent flatform 3 by silent flatform Hooke's hinge 31; And this end stretches out silent flatform 3, be connected by shaft coupling and servomotor.
Described constraint chain telescopic 51 is arranged on silent flatform Hooke's hinge 31 by pair of horns contact ball bearing, the dive key that connecting rod 52 end is connected, make the lower end just floating support in constraint chain telescopic 51 of connecting rod 52, be free to slide, realizing convert rotational motion is rectilinear motion, to guarantee that parallel institution can not realize the mutual rotation around constraint chain 5.
Operation principle of the present invention:
As shown in Figure 1, with respective servomotor on each drive chain 8, the leading screw 807 in driven by servomotor expansion link rotates, and the nut 816 be mated rotates, and is linear telescopic motion by both screw thread pair by converting rotary motion.When one of them or two drive chains 8 extend, two other or a drive chain 8 shortens time, just can realize the left and right of moving platform or the swing of front and back, thus drive the left and right of electro spindle cutting tool 7 or the swing of front and back; When three drive chains 8 simultaneously, same distance extend or shorten time, realize moving platform along constraint chain 5 direction translational, thus drive electro spindle cutting tool 7 to move up and down.

Claims (9)

1. a series parallel type structure engraving machine, it is characterized in that: comprise tandem truss and processing head in parallel, described tandem truss is for realizing along X, the two-way removable gantry structure of Y-axis movement, described processing head in parallel has three degree of freedom, be suspended on described removable gantry structure, described two-way removable gantry structure comprises gantry frame, matrix base, horizontal X shaft moving device and horizontal Y-axis mobile device, described gantry frame is connected on matrix base by horizontal X shaft moving device, processing head in parallel is suspended on gantry frame longeron by horizontal Y-axis mobile device.
2. series parallel type structure engraving machine according to claim 1, it is characterized in that: described horizontal X shaft moving device comprises the gear of the cooperation transmission that two frames that matrix base is connected with gantry frame are respectively equipped with, two tooth bars and connects the servomotor of driven wheel, the synchronous drived control of both sides servomotor.
3. series parallel type structure engraving machine according to claim 1, it is characterized in that: described horizontal Y-axis mobile device comprises the ball-screw be arranged on longeron, screw, slide rail, connection sliding block and the first motor, described first motor connects ball-screw, the screw coordinated with leading screw is fixed on connection sliding block, described connection sliding block coordinates with the slide rail that stringer sides is installed and slides, and the other end connects processing head in parallel.
4. series parallel type structure engraving machine according to claim 1, it is characterized in that: described processing head in parallel comprises moving platform, silent flatform, electro spindle cutting tool, three drive chains and a constraint chain, described constraint chain is Telescopic rod structure, its one end is connected with silent flatform by Hooke's hinge, and the other end is fixed on moving platform by sleeve arrangement; Article three, drive chain structure is identical, along constraint chain circumference, is expansion link, and its one end is connected with silent flatform by Hooke's hinge, and the other end is connected with moving platform by spherical hinge; With respective servomotor on each drive chain, driven by servomotor expansion link rotates and elongates or shortens, and connect electro spindle cutting tool below the moving platform of constraint chain lower end, constraint chain is vertical with moving platform, electro spindle axis and constraint chain dead in line.
5. series parallel type structure engraving machine according to claim 1, it is characterized in that: described drive chain expansion link is made up of inside and outside two sleeves, connected by the secondary mode of slippage, specifically comprise Hooke coupling head, coupling spindle, flexible overcoat I, keyway telescopic inner sleeve, flexible overcoat II, leading screw, positioning end cover, shaft coupling, servomotor, described servomotor connects leading screw one end by shaft coupling, the leading screw other end is fixed with slide key cover, slides along telescopic inner sleeve inwall; The nut coordinated with leading screw is connected to one end of telescopic inner sleeve, telescopic inner sleeve and flexible overcoat I one end connect firmly, its flexible overcoat I other end connects Hooke coupling head by coupling spindle, flexible overcoat II one end is connected on flexible overcoat I, and the other end is connected on leading screw near shaft coupling end by positioning end cover.
6. series parallel type structure engraving machine according to claim 5, is characterized in that: described flexible overcoat II is provided with sealing baffle with flexible overcoat I link.
7. series parallel type structure engraving machine according to claim 5, is characterized in that: described flexible overcoat I is connected by back-up ring with between telescopic inner sleeve.
8. series parallel type structure engraving machine according to claim 1, it is characterized in that: described constraint chain expansion link comprises constraint chain telescopic, connecting rod, dive key and long nut, described connecting rod one end is placed in constraint chain telescopic, the other end is connected with moving platform by spherical hinge, telescopic connects long nut, with the external screw thread coordinated with long nut on connecting rod, the connecting rod in telescopic is arranged with dive key, telescopic end is consolidated in silent flatform by silent flatform Hooke's hinge; And this end stretches out silent flatform, be connected by shaft coupling and servomotor.
9. series parallel type structure engraving machine according to claim 8, is characterized in that: described telescopic is arranged on silent flatform Hooke's hinge by pair of horns contact ball bearing.
CN201510058935.XA 2015-02-05 2015-02-05 Carving machine with series-parallel structure Pending CN104553558A (en)

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Cited By (8)

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Publication number Priority date Publication date Assignee Title
CN105619577A (en) * 2015-12-31 2016-06-01 黄群好 Special engraving equipment for full-automatic ceramic surface processing
CN106346461A (en) * 2016-11-16 2017-01-25 西安科技大学 Servo-controlled 3D drawing robot
CN106585250A (en) * 2016-12-27 2017-04-26 山东鼎创数控设备有限公司 Comprehensive multi-function engraving machine
CN106626922A (en) * 2016-12-13 2017-05-10 林方杰 Engraving machine used for engraving inner wall of container
CN108657894A (en) * 2018-07-12 2018-10-16 苏州福特美福电梯有限公司 A kind of elevator button surface number carving device
CN108973478A (en) * 2018-09-30 2018-12-11 山东交通学院 Large scale engraved stone machine people assembly and its method for carving stone material
CN111438539A (en) * 2020-05-07 2020-07-24 福州大学 Vertical series-parallel carving machine and working method thereof
CN113459124A (en) * 2021-07-23 2021-10-01 合肥工业大学 Flexible cable traction type five-axis carving robot for large circular carving

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105619577A (en) * 2015-12-31 2016-06-01 黄群好 Special engraving equipment for full-automatic ceramic surface processing
CN105619577B (en) * 2015-12-31 2017-11-28 唐山市开平区雅风陶瓷厂 The special texturing device of fully-automatic ceramic Surface Machining
CN106346461A (en) * 2016-11-16 2017-01-25 西安科技大学 Servo-controlled 3D drawing robot
CN106346461B (en) * 2016-11-16 2018-07-24 西安科技大学 A kind of SERVO CONTROL 3D drawing robot
CN106626922A (en) * 2016-12-13 2017-05-10 林方杰 Engraving machine used for engraving inner wall of container
CN106585250A (en) * 2016-12-27 2017-04-26 山东鼎创数控设备有限公司 Comprehensive multi-function engraving machine
CN106585250B (en) * 2016-12-27 2019-01-04 山东鼎创数控设备有限公司 A kind of comprehensive multifunctional engraving machine
CN108657894A (en) * 2018-07-12 2018-10-16 苏州福特美福电梯有限公司 A kind of elevator button surface number carving device
CN108973478A (en) * 2018-09-30 2018-12-11 山东交通学院 Large scale engraved stone machine people assembly and its method for carving stone material
CN111438539A (en) * 2020-05-07 2020-07-24 福州大学 Vertical series-parallel carving machine and working method thereof
CN113459124A (en) * 2021-07-23 2021-10-01 合肥工业大学 Flexible cable traction type five-axis carving robot for large circular carving
CN113459124B (en) * 2021-07-23 2023-06-30 合肥工业大学 Flexible rope traction type five-axis engraving robot for large circular engraving

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