CN105642942A - Three-axis linkage boring mechanical arm - Google Patents
Three-axis linkage boring mechanical arm Download PDFInfo
- Publication number
- CN105642942A CN105642942A CN201610197746.5A CN201610197746A CN105642942A CN 105642942 A CN105642942 A CN 105642942A CN 201610197746 A CN201610197746 A CN 201610197746A CN 105642942 A CN105642942 A CN 105642942A
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- Prior art keywords
- control section
- cutter
- circumferential direction
- cutting
- cylinder
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
- B23B41/02—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor for boring deep holes; Trepanning, e.g. of gun or rifle barrels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/02—Driving main working members
- B23Q5/027—Driving main working members reciprocating members
Abstract
The invention discloses a three-axis linkage boring mechanical arm which comprises a cylindrical tool handle and a tool. The tool is installed in a cutting segment at the front end of the tool handle. The three-axis linkage boring mechanical arm is characterized in that a radial feed control segment for controlling tool radial feed, a circumferential rotation control segment for controlling the circumferential rotation of the tool cutting segment, and an axial telescopic control segment for controlling axial telescopic movement of the tool cutting segment are formed at the rear end of the cutting segment of the tool handle sequentially backwards, and a tool stable supporting device for supporting in a machined hole is arranged on the tool handle. The three-axis linkage boring mechanical arm can achieve independent boring and has the advantages of being large in boring range, wide in applicability, high in machining precision and the like.
Description
Technical field
The invention belongs to the boring manufacture field of complicated shape of hole wall, be specifically related to a kind of boring processing three-shaft linkage mechanical arm.
Background technology
Boring is the internal diameter Cutting Process of a kind of cutter expanded hole or other circular contour, and its range of application is generally from half roughing to polish, and cutter for same is generally boring cutter or boring bar. Bore hole is to forging, and casts out or being processed further of drilling bore hole, belongs to the one of boring mode. Bore hole can expand aperture, improves precision, reduces surface roughness, it is also possible to correct the deflection of original axially bored line preferably.
Common boring cutter structure, generally comprises handle of a knife and is arranged on the cutter of handle of a knife front end, and handle of a knife rear end is arranged on lathe, provides power to carry out boring processing by lathe during use. But when some are not suitable for leaning on lathe to realize processing, for instance carrying out technological transformation on some mounted bigger equipment needs the situations such as reaming boring processing, then it is difficult with existing process equipment and realize processing.
Additionally, existing boring cutter, boring processing characteristics is limited, the degree of depth is processed more than the deep hole boring of diameter more than 6 times, and some more complicated structures such as spiral disconnected separate slot, straight trough, skewed slot, arc groove, screw thread, helicoid, arc surface, endoporus local wide etc. add man-hour, it is also difficult to ensure precision and working (machining) efficiency.
Summary of the invention
For above-mentioned the deficiencies in the prior art, the technical problem to be solved is: how to provide one to be capable of boring separately machined, and the boring range of work is big, and the suitability is wide, the boring processing three-shaft linkage mechanical arm that machining accuracy is high.
In order to solve above-mentioned technical problem, present invention employs following technical scheme:
A kind of boring processing three-shaft linkage mechanical arm, including overall cylindrical handle of a knife and cutter, Cutting tool installation manner is in the segment of cutting of handle of a knife front end, it is characterized in that, on described handle of a knife, segment of cutting rear end is sequentially formed with the radial feed control section for controlling cutter radial feeding, the control section and for controlling the axial stretching control section of Tool in Cutting section axial stretching of rotating in a circumferential direction for controlling that Tool in Cutting section rotates in a circumferential direction backward, handle of a knife is additionally provided with for realizing the cutter stable supporting device in processed hole inner support.
So, this mechanical arm can lean on cutter stable supporting device to be supported on inside processed hole, then the course of processing can produce three-shaft linkage, cutter radially feeding or stretching motion can be controlled while controlling to rotate boring by the control section that rotates in a circumferential direction, and then achieve boring separately machined meanwhile, it is capable to complete labyrinth and deep-hole structures boring processing. There is the boring range of work big, the feature that the suitability is wide.
As optimization, described segment of cutting includes a segment of cutting cylinder, segment of cutting cylinder forward position is provided with Cutting tool installation manner groove and for installing cutter, cutter includes the tool bit part for forming cutting edge and for realizing installing the installing handle part with cutter radial feeding transmission, the cutting-edge of tool bit part exposes outside Cutting tool installation manner groove, tool bit part and installing handle part split-type design and employing bolt are connected to one, and the medial surface of installing handle part are provided with driving rack for realizing cutter radial feeding transmission.
So, cutter adopts cutter head and installing handle two-part structure to realize, and forms cutting edge by tool bit part, as such, it is possible to each adopt different materials for cutting and installing different requirements, to reduce cost while improving cutting edge processing intensity. Cutter is divided into two parts simultaneously, facilitates and installing handle part arranges drive mechanism realize cutter radial feeding transmission. This drive mechanism adopts driving rack, it is possible to convenient and transmission input gear engagement realizes tool feeding feeding transmission, simple in construction and be beneficial to gear ratio and accurately control.
As optimization, described driving rack includes the first driving rack and the second driving rack, the first driving rack and the second driving rack and shifts to install side by side and cutter radial feeding travelling gear simultaneously with for realizing cutter radial feeding transmission engages.
So, arrange two driving racks to engage with cutter radial feeding travelling gear simultaneously, shifting to install of two driving racks can be leaned on so that it is adjacent two gear teeth that misplace in two driving racks fit to the both sides, front and back of cutter radial one teeth groove of feeding travelling gear respectively; Thus eliminating the need the back lash adopting meshed transmission gear easily to exist, while the driving error that less back lash causes, significantly reduce the requirement to gear manufacture precision.
Further, Cutting tool installation manner groove front inner wall is obliquely installed and this end consistent with cutter radial direction of feed in front inner wall is toward tilting near the direction of cutter, it is equipped with one piece of wedge between outer wall on front side of this Cutting tool installation manner groove front inner wall and cutter, it is that to be affixed side be face consistent with tool feeding direction for inclined-plane, wedge and cutter that wedge and Cutting tool installation manner groove front inner wall are affixed side, so can eliminate the axial gap of Cutting tool installation manner generation better and facilitate Cutting tool installation manner. further, the stop screw of segment of cutting barrel outer surface that the bigger one end of wedge is fixed near Cutting tool installation manner groove front inner wall is spacing fixing, such simple in construction and facilitate the spacing fixing of wedge. yet further, the first driving rack and the second driving rack realize interlocking by the concave-convex fit structure that the side that connects side by side is correspondingly arranged and coordinate, and have one that favours the side that the connects oblique face that is slidably matched in described concave-convex fit structure, so, when assembling, first by good to the first driving rack and the second driving rack laid out in parallel, and make the concave-convex fit structure of the two side that connects first diagonally the face of being slidably matched be affixed insertion and complete to be partially submerged into cooperation, cutter radial feeding travelling gear is installed and puts in place, again less one end of wedge is inserted from bigger one end of wedge installing space, wedge insert time rely on and Cutting tool installation manner groove on front side of tilt internal wall be slidably matched extruding two pieces of driving racks mutually close up, two pieces of driving racks mutually close up in process and rely on the cooperation in the oblique face that is slidably matched in concave-convex fit structure therebetween to drive two pieces of driving racks mobile along the dislocation of self transmission direction, push against until the both sides of cutter radial one teeth groove of feeding travelling gear are affixed by gear teeth of two pieces of driving racks simultaneously, now wedge cannot go insertion again, completes assembling after fixing for wedge holding position. such assembling process directly relies on the insertion cooperation of wedge also to eliminate the axial gap of Cutting tool installation manner while eliminating the need for the fit clearance that gear drive causes together, and drastically increase efficiency of assembling, it is ensured that assembly reliability. yet further, side can be affixed at wedge and cutter and multiple roller slot is set along being perpendicular to cutter radial direction of feed, the plurality of roller slot is arranged along cutter radial direction of feed uniform intervals, is provided with hollow rollers and hollow rollers outer surface is exposed to roller slot and for fitting with cutter leading flank in described roller slot. sliding friction in assembling process and subsequent tool radial feed process is converted into rolling friction by such hollow rollers, improves tool assembly and the smoothness of feeding adjustment, relies on the elasticity of hollow rollers simultaneously, it is possible to eliminates gap better and play damping effect.
As optimization, described radial feed control section, it is coaxially disposed in the radial feed control section cylinder of mechanical arm front portion including one, radial feed control section barrel front end and the fixing connection of segment of cutting cylinder, radial feed control section inner barrel is provided with radial feed and controls motor, described radial feed controls motor output shaft and arranges forward and be connected to forward deceleration transmission system, and described deceleration transmission system includes for the cutter radial feeding travelling gear with the driving rack engagement on cutter.
So, in radial feed control section, after turning to deceleration transmission system slowdown by radial feed control motor output, by cutter radial feeding travelling gear, rotation is delivered to driving rack again and is converted into the translation that cutter radial is flexible, and then realize the control that cutter radial is flexible, there is simple in construction, control reliable advantage.
As optimization, described deceleration transmission system includes harmonic reducing mechanism, harmonic reducing mechanism outfan and a radial feed power transmission shaft and is connected, and radial feed power transmission shaft front end extends in segment of cutting inner barrel cavity and arranges cutter radial feeding travelling gear. So, adopt harmonic reducing mechanism as deceleration transmission system, it is possible to greatly reduce gear ratio, it is possible to improve the control accuracy of cutter radial feeding output better.
Further, described harmonic reducing mechanism includes the harmonic wave input gear that radial feed controls to be coaxially disposed on motor output shaft, several harmonic wave idler gear it has been evenly arranged outside harmonic wave input gear, harmonic wave idler gear and the engagement of harmonic wave input gear, there is outside harmonic wave idler gear a harmonic wave runner being coaxially disposed with harmonic wave input gear, harmonic wave runner has ring gear and the engagement of harmonic wave idler gear, harmonic wave flexbile gear it is arranged with outside harmonic wave runner, the diametrically opposite two ends of harmonic wave runner outer surface are also symmetrically installed with two radially protruding ripple generation components, ripple generation component outer end and harmonic wave flexbile gear inner surface abut and make harmonic wave deformation of flexible wheel ovalize, harmonic wave flexbile gear outer surface is formed with external toothing and engages with the radial feed relatively-stationary internal gear of control section cylinder at the two ends of oval major axis and one, harmonic wave flexbile gear front end is the outfan of harmonic reducing mechanism and is connected with radial feed power transmission shaft rear end. so, during work, radial feed controls motor output shaft and passes through the drive harmonic wave idler gear rotation of harmonic wave input gear, drives harmonic wave runner to rotate, then leans on ripple generation component drive harmonic wave flexbile gear and fixing external toothing to coordinate generation differential to reverse, so this harmonic reducing mechanism first realizes first order deceleration transmission by harmonic wave idler gear, and then drive radial feed power transmission shaft to rotate output after realizing differential gearing by harmonic wave flexbile gear, therefore deceleration transmission effect can be drastically increased, ensure that the stability of cutter radial feeding and controllability, improve radial feed control accuracy. yet further, described ripple generation component is axially disposed roller. the setting of such roller can coordinate being formed between ripple generation component and harmonic wave flexbile gear to roll, greatly reduce friction and reduce abrasion raising transmission stability, and the more important thing is that structure herein is arranged and make to work as cutter work and bear and cut buffer brake and be delivered to after herein to be converted into roller along harmonic wave runner pressure radially, even if the component having other directions of part also can be rotated by roller self offset, will not again back transmit, produce good reversion self-locking effect, drastically increase the stability of cutter work. yet further, the ladder that described radial feed power transmission shaft generally point diameter reduces is discoid, and the end positions that radial feed power transmission shaft is arranged in cutter radial feeding travelling gear is respectively arranged on segment of cutting cylinder lumen by a bearing. so can better ensure that stable drive, improve stability. yet further, grafting male cooperation radial feed power transmission shaft rear end circumference being provided with grafting groove and the setting of harmonic wave flexbile gear front end edge circumference evagination realizes connecting.Leave the space radially fluctuated of grafting projection for harmonic wave flexbile gear front end in such grafting groove, adopt this flexible connection transmission can the vibration that transmission process is brought of harmonic carcellation flexbile gear radial deformation, it is ensured that transmission stability. Described radial feed control section barrel front end sealing socket is fixed on outside segment of cutting cylinder back-end further, and described internal gear is fixedly installed on segment of cutting cylinder back-end surface of internal cavity, and such structural integrity is better and is more favorable for sealing setting. Harmonic reducing mechanism front position is additionally provided with overall harmonic wave wheel seat in the form of annular discs further, described harmonic wave wheel seat peripheral position is fixed on the step surface that radial feed control section cylinder lumen is anterior, and the rotary gear shaft within described harmonic wave idler gear is fixed on harmonic wave wheel seat. Such harmonic wave wheel seat the installation settings of each component in convenient harmonic reducing mechanism is set. Further, described harmonic wave runner rear end end face has the spacing preiection of evagination and cooperation is inserted in a stopper slot of harmonic wave wheel seat front end surface to realize harmonic wave runner radially spacing, harmonic wave roller position is just had by described radial feed power transmission shaft rear end end face spacing preiection axially rearward for realizing harmonic wave runner shaft location upwards. So can realize harmonic wave runner location on radial and axial after assembling better, and make to reserve installing space between radial feed power transmission shaft rear end end face and harmonic wave idler gear front end surface, this installing space is installed spacer pin for harmonic wave idler gear in its rotary gear shaft front end and is realized the assembling to harmonic wave idler gear and spacing.
As optimization, the described control section that rotates in a circumferential direction, including a control section cylinder that rotates in a circumferential direction being co-axially located in the middle part of mechanical arm, the control section that rotates in a circumferential direction inner barrel is provided with the control motor that rotates in a circumferential direction, the described control motor output shaft that rotates in a circumferential direction is connected with radial feed control section cylinder back-end forward and for driving radial feed control section cylinder to rotate, described in the control section cylinder first half that rotates in a circumferential direction coaxially enclose that to be located at radial feed control section cylinder latter half of outward and slip-ring brush is provided therebetween.
So, by the control driven by motor radial feed control section cylinder back-end integral-rotation that rotates in a circumferential direction, realize cutter is rotated the control of processing, the slip-ring brush wherein adopted ensures to achieve the conducting controlling electric current of the motor of radial feed control section inner barrel, it is ensured that the reliability of Tool Control.
Further, described rotate in a circumferential direction control section cylinder first half and radial feed control section cylinder latter half of between be additionally provided with rotating support shaft bearing structure, described rotating support shaft bearing structure includes being formed at the ball assembly space rotated in a circumferential direction between control section cylinder and radial feed control section cylinder, described ball assembly space inner chamber is formed at the spherical crown surface rotated in a circumferential direction on control section cylinder inner surface and radial feed control section barrel outer surface and relatively for assembling with ball engagement inside and outside having, also there is the retainer chamber of cuboid structure between two spherical crown surfaces, retainer intracavity is provided with a circle end disconnection but entirety encloses the retainer in annular, described retainer is circumferentially evenly arranged with ball pilot hole and embeds assembling rotationally for ball. support in such manner, it is possible to realize the rotation to radial feed control section cylinder better, be greatly enhanced smooth rotation. further, described in the control section barrel outer surface correspondence ball assembly space that rotates in a circumferential direction be provided with and communicated with ball and enter fluting, ball enters in fluting and is fixed with a fluting sprue by latch, and sprue inner surface of slotting is consistent with ball assembly space inner wall surface. the loading of so convenient ball and retainer.
As optimization, the described control motor output shaft that rotates in a circumferential direction is provided with rotary drive driving gear, rotary drive driving gear periphery has been evenly arranged multiple rotary drive idler gear and the engagement of rotary drive driving gear, and rotary drive idler gear engages with the rotary drive internal gear being arranged on radial feed control section cylinder back-end surface of internal cavity and drives radial feed control section cylinder to rotate simultaneously.The gear ratio arranging conveniently regulating and controlling rotary drive of such rotary drive idler gear, can improve the stability of transmission simultaneously further, improves device stability in the large.
The control section that rotates in a circumferential direction further cylinder lumen middle part vertically extends inwardly to form a partition, cut off rear and form the control motor mounting space that rotates in a circumferential direction, the described control motor output shaft that rotates in a circumferential direction penetrates rotatably partition and arranges, and described rotary drive idler gear is mounted on partition. The assembling of so convenient each component is arranged.
As optimization, described axial stretching control section, it is co-axially located at mechanical post-brachial axial stretching control section cylinder including one, being provided with axial stretching in axial stretching control section cylinder back-end inner chamber and control motor, described axial stretching controls motor output shaft and arranges forward and connected by steering gear and the control section cylinder back-end that rotates in a circumferential direction and can be driven the elastic motion of control section cylinder that rotates in a circumferential direction. So, the axial stretching of cutter is controlled by simple in construction and convenient realization.
As optimization, described steering gear includes a leading screw being coaxially disposed with mechanical arm, leading screw rear end controls motor output shaft with axial stretching and is connected, leading screw front end is inserted in a nut cylinder being coaxially disposed, nut cylinder back-end inner chamber is provided with female thread and leading screw engagement, nut barrel front end and the control section cylinder back-end that rotates in a circumferential direction connect, and steering gear also includes the guide frame rotated for the control section cylinder that prevents from rotating in a circumferential direction. So, relying on the setting that screw nut driven is secondary, adopt simple structure to achieve the rotation output that axial stretching controls motor output shaft and be converted into the axial translation of the control section cylinder that rotates in a circumferential direction, simple in construction and control are reliable.
Further, described guide frame includes being positioned at axial stretching control section barrel front end and extends forwardly into the latter half of outer guide section of the control section cylinder that rotates in a circumferential direction, the gathering sill latter half of including being axially arranged on the control section barrel outer surface that rotates in a circumferential direction, also includes coordinating a guide runner being fixed on guide section inner surface in gathering sill. So, be directed to structure be arranged on the control section cylinder that rotates in a circumferential direction latter half of outside, it is possible to while convenient for assembly, better improve overall structure stability.
Further, described nut barrel front end and rotate in a circumferential direction and be provided with floating connecting structure between control section cylinder back-end, described floating connecting structure includes the mounting dish being arranged on nut barrel front end circumferentially evagination and the mounting ring being fixed on the control section cylinder back-end that rotates in a circumferential direction, and mounting ring aft end interior surface inwardly protruding is also articulated on mounting dish trailing flank, floating connecting structure also includes one and is arranged in the middle part of nut barrel front end end face and rotates in a circumferential direction between in the middle part of control section cylinder back-end end face the cross contiguous block of position, the leading flank of cross contiguous block and rotate in a circumferential direction and be radially formed the first concave-convex fit structure between control section cylinder back-end end face, it has been radially formed the second concave-convex fit structure between trailing flank and the nut barrel front end end face of cross contiguous block, first concave-convex fit structure and the second concave-convex fit structure setting direction be mutually perpendicular to and make to coordinate after the leading flank of cross contiguous block and rotate in a circumferential direction between control section cylinder back-end end face and all leave flying height between the trailing flank of cross contiguous block and nut barrel front end end face. so, nut cylinder by cross contiguous block transmission powered rotate in a circumferential direction control section cylinder advance, the control section cylinder that rotates in a circumferential direction is driven to retreat by mounting ring and mounting dish mounting transmission power, in advance feed process, the concave-convex fit structure of cross contiguous block both sides can transmit moment of torsion and thrust, can allow that cross contiguous block produces the beat of certain angle and do not affect the transmission of thrust and moment of torsion by flying height simultaneously, and then the shake produced when eliminating the need for screw nut driven auxiliary driving, it is ensured that the stability of front end transmission. better select to be that in the first concave-convex fit structure and the second concave-convex fit structure, the apical grafting face of respective groove and male cooperation is the arc along groove length direction. the cooperation of such arc enables to not produce in cross contiguous block swing process collision along arcuate rotation, improves transmission stability better.
As optimization, cutter stable supporting device includes the outer support mechanism construction section being formed at one section of minor diameter of handle of a knife outer surface, circumferentially uniformly being provided with the outer support mechanism of many groups on outer support mechanism construction section, outer support mechanism includes the support member that can controlled radially to stretch out.So convenient realization is to the handle of a knife support in processed hole certainly. As preferably during enforcement, outer support mechanism construction section can be arranged on axial stretching control section barrel outer surface internally positioned leading screw position, and the effect of supporting & stablizing handle of a knife better can be played in this position.
Further, described outer support mechanism can be the outer support mechanism of link-type, the outer support mechanism of described link-type includes axially disposed hydraulic cylinder and two bar linkage structures, two bar linkage structures include first connecting rod, second connecting rod and support member, one end of first connecting rod is hinged on the outer support mechanism construction section in hydraulic cylinder extension arm front, one end of second connecting rod is hinged on hydraulic cylinder extension arm front position, the other end of first connecting rod and second connecting rod is all jointly hinged on inside support member and makes hydraulic cylinder extension arm can drive the relatively far-end relative movement of first connecting rod and second connecting rod time protruding and by support member radially jack-up on same hinge. so there is simple in construction, the advantage such as easy to control, two bar linkage structures can make further to overhang support member to hold out against to present at processed hole inwall back link as far as possible and hold out against close to radial direction simultaneously, so produce self-locking effect, hydraulic cylinder need not undertake and bigger push against counteracting force, it is ensured that support effect is reliable and stable. further, described hydraulic cylinder is dual-rod hydraulic cylinder, before described two bar linkage structures are symmetrically arranged in the telescopic arm at hydraulic cylinder two ends. so, it is achieved the front and back two place strong point improves stability of strutting system better. as optimization, hydraulic cylinder extension arm front end is connected to the synchronization collar that a coaxial sleeve is located on outer support mechanism construction section, and second connecting rod is hinged on the synchronization collar. so can better ensure that each group of outer support mechanism concordance.
Additionally, described outer support mechanism can also be the outer support mechanism of Wedge-type, the outer support mechanism of described Wedge-type includes axially disposed hydraulic cylinder, it is successively set on voussoir and the support member in hydraulic cylinder extension arm front, one end of the overall curved block structure of support member and arcuate directions is hinged on outer support mechanism construction section and constitutes the inner, the other end is connected on voussoir under an action of reset spring and constitutes outer end, this side surface that voussoir contacts with support member is the inclined-plane tilted radially inward towards support member direction, voussoir connects away from support member one end and hydraulic cylinder extension arm front end. so, control hydraulic cylinder extension arm to stretch out and voussoir can be driven to lean on its inclined-plane to coordinate drive that support member outer end is protruding is connected on the inwall of processed hole, therefore there is simple in construction, and easy to assembly, control advantages such as being quick on the draw, when supporting, the counteracting force of support member is largely transferred on voussoir formed along the radially inner component of voussoir and then be cancelled simultaneously, and hydraulic cylinder need not undertake and bigger push against counteracting force, it is ensured that support effect is reliable and stable. further, described support member outer end is provided with support roller and leans on back-up roller wheel surface and voussoir and processed hole contact internal walls to realize supporting, and so reduces frictional force by rolling, improves stability of strutting system. further, described hydraulic cylinder is dual-rod hydraulic cylinder, and is all provided with voussoir and the supporting piece structure of cooperation before the telescopic arm at two ends. so, it is achieved the front and back two place strong point improves stability of strutting system better. as optimization, each organize that the voussoir of correspondence in outer support mechanism is circumferentially connected as ring-type synchronization slip ring is integrally formed. so can better ensure that each group of outer support mechanism concordance.Further, described back-moving spring can be arranged on the torsion spring of hinged place, support member the inner or be a circle coil tension spring being connected to support member outer end in the form of a ring. The former torsion spring compact structure is simple, and the coil tension spring of the latter can improve support member action synchronicity further.
In sum, it is separately machined that the present invention is capable of boring, has the boring range of work big, and the suitability is wide, machining accuracy advantages of higher.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the boring processing three-shaft linkage mechanical arm of optimum embodiment.
Fig. 2 is the A-A sectional view of tool position in Fig. 1.
Fig. 3 is that in Fig. 1, cutter position can show wedge and the partial schematic diagram of driving rack planar structure.
Fig. 4 is the schematic diagram that the C-C section view direction of rotating support shaft bearing structure position in Fig. 1 individually shows rotating support shaft bearing structure.
Fig. 5 is the structural representation of the outer support mechanism of Wedge-type of alternatively embodiment.
Fig. 6 is the close-up schematic view that can show segment of cutting and radial feed control section structure in Fig. 1.
Fig. 7 be in Fig. 1 can display part split axle to the close-up schematic view of extension and contraction control segment structure.
Detailed description of the invention
The present invention is described in further detail to process the optimum embodiment of three-shaft linkage mechanical arm and accompanying drawing thereof below in conjunction with a kind of boring.
As shown in figs. 1-7, a kind of optimum embodiment of boring processing three-shaft linkage mechanical arm, including overall cylindrical handle of a knife and cutter, Cutting tool installation manner is in the segment of cutting of handle of a knife front end, wherein, on described handle of a knife, segment of cutting rear end is sequentially formed with the radial feed control section for controlling cutter radial feeding, the control section and for controlling the axial stretching control section of Tool in Cutting section axial stretching of rotating in a circumferential direction for controlling that Tool in Cutting section rotates in a circumferential direction backward, handle of a knife is additionally provided with for realizing the cutter stable supporting device in processed hole inner support.
So, this mechanical arm can lean on cutter stable supporting device to be supported on inside processed hole, then the course of processing can produce three-shaft linkage, cutter radially feeding or stretching motion can be controlled while controlling to rotate boring by the control section that rotates in a circumferential direction, and then achieve boring separately machined meanwhile, it is capable to complete labyrinth and deep-hole structures boring processing. There is the boring range of work big, the feature that the suitability is wide.
Wherein, described segment of cutting includes a segment of cutting cylinder 1, segment of cutting cylinder 1 forward position is provided with Cutting tool installation manner groove and for installing cutter, cutter includes the tool bit part 2 for forming cutting edge and for realizing installing the installing handle part 3 with cutter radial feeding transmission, the cutting-edge of tool bit part 2 exposes outside Cutting tool installation manner groove, tool bit part 3 and installing handle part 3 split-type design and employing bolt are connected to one, and the medial surface of installing handle part 3 are provided with driving rack for realizing cutter radial feeding transmission.
So, cutter adopts cutter head and installing handle two-part structure to realize, cutting edge is formed by tool bit part, so, different materials can be each adopted, to reduce cost while improving cutting edge processing intensity, specifically for cutting and installing different requirements, tool bit part adopts Hardmetal materials to prepare, and installing handle part adopts No. 45 steels to obtain. Cutter is divided into two parts simultaneously, facilitates and installing handle part arranges drive mechanism realize cutter radial feeding transmission. This drive mechanism adopts driving rack, it is possible to convenient and transmission input gear engagement realizes tool feeding feeding transmission, simple in construction and be beneficial to gear ratio and accurately control.
Wherein, described driving rack includes the first driving rack 4 and the second driving rack 5, the first driving rack 4 and the second driving rack 5 shifts to install side by side and cutter radial feeding travelling gear 6 simultaneously with for realizing cutter radial feeding transmission engages.
So, arrange two driving racks to engage with cutter radial feeding travelling gear simultaneously, shifting to install of two driving racks can be leaned on so that it is adjacent two gear teeth that misplace in two driving racks fit to the both sides, front and back of cutter radial one teeth groove of feeding travelling gear respectively; Thus eliminating the need the back lash adopting meshed transmission gear easily to exist, while the driving error that less back lash causes, significantly reduce the requirement to gear manufacture precision.
Wherein, Cutting tool installation manner groove front inner wall is obliquely installed and this end consistent with cutter radial direction of feed in front inner wall is toward tilting near the direction of cutter, it is equipped with one piece of wedge 7 between outer wall on front side of this Cutting tool installation manner groove front inner wall and cutter, it is inclined-plane that wedge 7 and Cutting tool installation manner groove front inner wall are affixed side, and it is face consistent with tool feeding direction that wedge 7 is affixed side with cutter, so can eliminate the axial gap of Cutting tool installation manner generation better and facilitate Cutting tool installation manner. further, the stop screw 8 of segment of cutting barrel outer surface that the bigger one end of wedge 7 is fixed near Cutting tool installation manner groove front inner wall is spacing fixing, such simple in construction and facilitate the spacing fixing of wedge. yet further, the first driving rack 4 and the second driving rack 5 realize interlocking by the concave-convex fit structure 9 that the side that connects side by side is correspondingly arranged and coordinate, and have one that favours the side that the connects oblique face that is slidably matched in described concave-convex fit structure 9, so, when assembling, first by good to the first driving rack and the second driving rack laid out in parallel, and make the concave-convex fit structure of the two side that connects first diagonally the face of being slidably matched be affixed insertion and complete to be partially submerged into cooperation, cutter radial feeding travelling gear is installed and puts in place, again less one end of wedge is inserted from bigger one end of wedge installing space, wedge insert time rely on and Cutting tool installation manner groove on front side of tilt internal wall be slidably matched extruding two pieces of driving racks mutually close up, two pieces of driving racks mutually close up in process and rely on the cooperation in the oblique face that is slidably matched in concave-convex fit structure therebetween to drive two pieces of driving racks mobile along the dislocation of self transmission direction, push against until the both sides of cutter radial one teeth groove of feeding travelling gear are affixed by gear teeth of two pieces of driving racks simultaneously, now wedge cannot go insertion again, completes assembling after fixing for wedge holding position. such assembling process directly relies on the insertion cooperation of wedge also to eliminate the axial gap of Cutting tool installation manner while eliminating the need for the fit clearance that gear drive causes together, and drastically increase efficiency of assembling, it is ensured that assembly reliability. yet further, side can be affixed at wedge 7 and cutter and multiple roller slot is set along being perpendicular to cutter radial direction of feed, the plurality of roller slot is arranged along cutter radial direction of feed uniform intervals, is provided with hollow rollers 10 and hollow rollers 10 outer surface is exposed to roller slot and for fitting with cutter leading flank in described roller slot. sliding friction in assembling process and subsequent tool radial feed process is converted into rolling friction by such hollow rollers, improve tool assembly and the smoothness of feeding adjustment, rely on the elasticity of hollow rollers simultaneously, gap can be eliminated better and play damping effect, hollow rollers adopts the spring steel material of 60Si2Mn further, to produce elastic raising damping effect better.
Wherein, described radial feed control section, it is coaxially disposed in the radial feed control section cylinder 11 of mechanical arm front portion including one, radial feed control section cylinder 11 front end and the fixing connection of segment of cutting cylinder, radial feed control section inner barrel is provided with radial feed and controls motor 12, described radial feed controls motor 12 output shaft and arranges forward and be connected to forward deceleration transmission system, and described deceleration transmission system includes for the cutter radial feeding travelling gear 6 with the driving rack engagement on cutter.
So, in radial feed control section, after turning to deceleration transmission system slowdown by radial feed control motor output, by cutter radial feeding travelling gear, rotation is delivered to driving rack again and is converted into the translation that cutter radial is flexible, and then realize the control that cutter radial is flexible, there is simple in construction, control reliable advantage.
Wherein, described deceleration transmission system includes harmonic reducing mechanism, harmonic reducing mechanism outfan and a radial feed power transmission shaft 19 and is connected, and radial feed power transmission shaft 19 front end extends in segment of cutting cylinder 1 internal cavities and arranges cutter radial feeding travelling gear 6. So, adopt harmonic reducing mechanism as deceleration transmission system, it is possible to greatly reduce gear ratio, it is possible to improve the control accuracy of cutter radial feeding output better.
Wherein, described harmonic reducing mechanism includes the harmonic wave input gear 13 that radial feed controls to be coaxially disposed on motor output shaft, several harmonic wave idler gear 14 it has been evenly arranged outside harmonic wave input gear 13, harmonic wave idler gear 14 and harmonic wave input gear 13 engage, there is outside harmonic wave idler gear 14 a harmonic wave runner 15 being coaxially disposed with harmonic wave input gear, harmonic wave runner 15 has ring gear and harmonic wave idler gear 14 engages, harmonic wave flexbile gear 16 it is arranged with outside harmonic wave runner 15, the diametrically opposite two ends of harmonic wave runner 15 outer surface are also symmetrically installed with two radially protruding ripple generation components 17, ripple generation component 17 outer end and harmonic wave flexbile gear 15 inner surface abut and make harmonic wave deformation of flexible wheel ovalize, harmonic wave flexbile gear 15 outer surface is formed with external toothing and engages with the relatively-stationary internal gear 18 of radial feed control section cylinder at the two ends of oval major axis and one, harmonic wave flexbile gear 16 front end is the outfan of harmonic reducing mechanism and is connected with radial feed power transmission shaft 19 rear end. so, during work, radial feed controls motor output shaft and passes through the drive harmonic wave idler gear rotation of harmonic wave input gear, drives harmonic wave runner to rotate, then leans on ripple generation component drive harmonic wave flexbile gear and fixing external toothing to coordinate generation differential to reverse, so this harmonic reducing mechanism first realizes first order deceleration transmission by harmonic wave idler gear, and then drive radial feed power transmission shaft to rotate output after realizing differential gearing by harmonic wave flexbile gear, therefore deceleration transmission effect can be drastically increased, ensure that the stability of cutter radial feeding and controllability, improve radial feed control accuracy. yet further, described ripple generation component 17 is axially disposed roller. the setting of such roller can coordinate being formed between ripple generation component and harmonic wave flexbile gear to roll, greatly reduce friction and reduce abrasion raising transmission stability, and the more important thing is that structure herein is arranged and make to work as cutter work and bear and cut buffer brake and be delivered to after herein to be converted into roller along harmonic wave runner pressure radially, even if the component having other directions of part also can be rotated by roller self offset, will not again back transmit, produce good reversion self-locking effect, drastically increase the stability of cutter work. yet further, the ladder that described radial feed power transmission shaft 19 generally point diameter reduces is discoid, and the end positions that radial feed power transmission shaft is arranged in cutter radial feeding travelling gear is respectively arranged on segment of cutting cylinder 1 inner chamber by a bearing. so can better ensure that stable drive, improve stability. yet further, grafting male cooperation radial feed power transmission shaft 19 rear end circumference being provided with grafting groove and the setting of harmonic wave flexbile gear 16 front end edge circumference evagination realizes connecting.Leave the space radially fluctuated of grafting projection for harmonic wave flexbile gear front end in such grafting groove, adopt this flexible connection transmission can the vibration that transmission process is brought of harmonic carcellation flexbile gear radial deformation, it is ensured that transmission stability. Described radial feed control section cylinder 11 forward end seal is fixed by socket outside segment of cutting cylinder 1 rear end further, and described internal gear 18 is fixedly installed on the surface of internal cavity of segment of cutting cylinder 1 rear end, and such structural integrity is better and is more favorable for sealing setting. Harmonic reducing mechanism front position is additionally provided with overall harmonic wave wheel seat 20 in the form of annular discs further, described harmonic wave wheel seat 20 peripheral position is fixed on the step surface that radial feed control section cylinder 11 inner chamber is anterior, and the rotary gear shaft within described harmonic wave idler gear is fixed on harmonic wave wheel seat. Such harmonic wave wheel seat the installation settings of each component in convenient harmonic reducing mechanism is set. Further, described harmonic wave runner 15 rear end end face has the spacing preiection of evagination and cooperation is inserted in a stopper slot of harmonic wave wheel seat 20 front end surface to realize harmonic wave runner radially spacing, harmonic wave runner 15 position is just had by described radial feed power transmission shaft 19 rear end end face spacing preiection axially rearward for realizing harmonic wave runner 15 location axially. So can realize harmonic wave runner location on radial and axial after assembling better, and make to reserve installing space between radial feed power transmission shaft rear end end face and harmonic wave idler gear front end surface, this installing space is installed spacer pin for harmonic wave idler gear in its rotary gear shaft front end and is realized the assembling to harmonic wave idler gear and spacing.
Wherein, the described control section that rotates in a circumferential direction, including a control section cylinder 21 that rotates in a circumferential direction being co-axially located in the middle part of mechanical arm, the internally installed control motor 22 that rotates in a circumferential direction of the control section that rotates in a circumferential direction cylinder 21, described control motor 22 output shaft that rotates in a circumferential direction is connected with radial feed control section cylinder 11 rear end forward and for driving radial feed control section cylinder 11 to rotate, described in control section cylinder 21 first half that rotates in a circumferential direction coaxially enclose that to be located at radial feed control section cylinder latter half of outward and slip-ring brush 23 is provided therebetween.
So, by the control driven by motor radial feed control section cylinder back-end integral-rotation that rotates in a circumferential direction, realize cutter is rotated the control of processing, the slip-ring brush wherein adopted ensures to achieve the conducting controlling electric current of the motor of radial feed control section inner barrel, it is ensured that the reliability of Tool Control.
Wherein, described rotate in a circumferential direction control section cylinder first half and radial feed control section cylinder latter half of between be additionally provided with rotating support shaft bearing structure, described rotating support shaft bearing structure includes being formed at the ball assembly space rotated in a circumferential direction between control section cylinder and radial feed control section cylinder, described ball assembly space inner chamber is formed at the spherical crown surface rotated in a circumferential direction on control section cylinder inner surface and radial feed control section barrel outer surface and relatively for coordinating assembling with ball 24 inside and outside having, also there is the retainer chamber of cuboid structure between two spherical crown surfaces, retainer intracavity is provided with a circle end disconnection but entirety encloses the retainer 25 in annular, described retainer 25 is circumferentially evenly arranged with ball pilot hole and embeds assembling rotationally for ball 24. support in such manner, it is possible to realize the rotation to radial feed control section cylinder better, be greatly enhanced smooth rotation. further, the described control section barrel outer surface correspondence ball assembly space that rotates in a circumferential direction is provided with and communicated with ball and enters fluting, ball enters in fluting and is fixed with a fluting sprue 26 by latch 27, and fluting sprue 26 inner surface is consistent with ball assembly space inner wall surface.The loading of so convenient ball and retainer.
Wherein, described control motor 22 output shaft that rotates in a circumferential direction is provided with rotary drive driving gear 27, rotary drive driving gear 27 periphery has been evenly arranged multiple rotary drive idler gear 28 and the engagement of rotary drive driving gear, and rotary drive idler gear 28 engages with the rotary drive internal gear 29 being arranged on radial feed control section cylinder back-end surface of internal cavity and drives radial feed control section cylinder 11 to rotate simultaneously. The gear ratio arranging conveniently regulating and controlling rotary drive of such rotary drive idler gear, can improve the stability of transmission simultaneously further, improves device stability in the large.
Wherein, the control section that rotates in a circumferential direction cylinder lumen middle part vertically extends inwardly to form a partition 30, cut off 30 rears and form the control motor mounting space that rotates in a circumferential direction, the described control motor output shaft that rotates in a circumferential direction penetrates rotatably partition 30 setting, and described rotary drive idler gear 28 is mounted on partition. The assembling of so convenient each component is arranged.
Wherein, described axial stretching control section, it is co-axially located at mechanical post-brachial axial stretching control section cylinder 31 including one, being provided with axial stretching in the inner chamber of axial stretching control section cylinder 31 rear end and control motor 32, described axial stretching controls motor 32 output shaft and arranges forward and connected by steering gear and control section cylinder 21 rear end that rotates in a circumferential direction and can be driven the elastic motion of control section cylinder 21 that rotates in a circumferential direction. So, the axial stretching of cutter is controlled by simple in construction and convenient realization.
Wherein, described steering gear includes a leading screw 33 being coaxially disposed with mechanical arm, leading screw 33 rear end controls motor 31 output shaft with axial stretching and is connected, leading screw 33 front end is inserted in a nut cylinder 34 being coaxially disposed, nut cylinder 34 rear end inner chamber is provided with female thread and leading screw 33 engages, nut cylinder 34 front end and control section cylinder 21 rear end that rotates in a circumferential direction connect, and steering gear also includes the guide frame rotated for the control section cylinder 21 that prevents from rotating in a circumferential direction. So, relying on the setting that screw nut driven is secondary, adopt simple structure to achieve the rotation output that axial stretching controls motor output shaft and be converted into the axial translation of the control section cylinder that rotates in a circumferential direction, simple in construction and control are reliable.
Wherein, described guide frame includes being positioned at axial stretching control section cylinder 31 front end and extends forwardly into the latter half of outer guide section of the control section cylinder 21 that rotates in a circumferential direction, the gathering sill 35 latter half of including being axially arranged on the control section barrel outer surface that rotates in a circumferential direction, also includes coordinating a guide runner 36 being fixed on guide section inner surface in gathering sill 35. So, be directed to structure be arranged on the control section cylinder that rotates in a circumferential direction latter half of outside, it is possible to while convenient for assembly, better improve overall structure stability.
Wherein, described nut cylinder 34 front end and rotate in a circumferential direction and be provided with floating connecting structure between control section cylinder 21 rear end, described floating connecting structure includes being arranged on all cambered outwards mounting dishes 37 of nut cylinder 34 front end edge and being fixed on a mounting ring 38 of control section cylinder 21 rear end that rotates in a circumferential direction, and mounting ring 38 aft end interior surface inwardly protruding is also articulated on mounting dish 37 trailing flank, floating connecting structure also includes one and is arranged in the middle part of nut barrel front end end face and rotates in a circumferential direction between in the middle part of control section cylinder back-end end face the cross contiguous block 39 of position, the leading flank of cross contiguous block 39 and rotate in a circumferential direction and be radially formed the first concave-convex fit structure between control section cylinder back-end end face, it has been radially formed the second concave-convex fit structure between trailing flank and nut cylinder 34 front end surface of cross contiguous block 39, first concave-convex fit structure and the second concave-convex fit structure setting direction be mutually perpendicular to and make to coordinate after the leading flank of cross contiguous block 39 and rotate in a circumferential direction between the end face of control section cylinder 21 rear end and all leave flying height between the trailing flank of cross contiguous block 39 and nut cylinder 34 front end surface.So, nut cylinder by cross contiguous block transmission powered rotate in a circumferential direction control section cylinder advance, the control section cylinder that rotates in a circumferential direction is driven to retreat by mounting ring and mounting dish mounting transmission power, in advance feed process, the concave-convex fit structure of cross contiguous block both sides can transmit moment of torsion and thrust, can allow that cross contiguous block produces the beat of certain angle and do not affect the transmission of thrust and moment of torsion by flying height simultaneously, and then the shake produced when eliminating the need for screw nut driven auxiliary driving, it is ensured that the stability of front end transmission. Better select to be that in the first concave-convex fit structure and the second concave-convex fit structure, the apical grafting face of respective groove and male cooperation is the arc along groove length direction. The cooperation of such arc enables to not produce in cross contiguous block swing process collision along arcuate rotation, improves transmission stability better.
Wherein, cutter stable supporting device includes the outer support mechanism construction section being formed at one section of minor diameter of handle of a knife outer surface, circumferentially uniformly being provided with the outer support mechanism of many groups on outer support mechanism construction section, outer support mechanism includes the support member that can controlled radially to stretch out. So convenient realization is to the handle of a knife support in processed hole certainly. As preferably during enforcement, outer support mechanism construction section can be arranged on axial stretching control section barrel outer surface internally positioned leading screw position, and the effect of supporting & stablizing handle of a knife better can be played in this position.
Wherein, described outer support mechanism can be the outer support mechanism of link-type, the outer support mechanism of described link-type includes axially disposed hydraulic cylinder 40 and two bar linkage structures, two bar linkage structures include first connecting rod 41, second connecting rod 42 and support member 43, one end of first connecting rod 41 is hinged on the outer support mechanism construction section in hydraulic cylinder extension arm front, one end of second connecting rod 42 is hinged on hydraulic cylinder 40 telescopic arm front position, the other end of first connecting rod 41 and second connecting rod 42 is all jointly hinged on inside support member 43 and makes hydraulic cylinder extension arm can drive the relatively far-end relative movement of first connecting rod 41 and second connecting rod 42 time protruding and by support member 43 radially jack-up on same hinge. so there is simple in construction, the advantage such as easy to control, two bar linkage structures can make further to overhang support member to hold out against to present at processed hole inwall back link as far as possible and hold out against close to radial direction simultaneously, so produce self-locking effect, hydraulic cylinder need not undertake and bigger push against counteracting force, it is ensured that support effect is reliable and stable. further, described hydraulic cylinder 40 is dual-rod hydraulic cylinder, before described two bar linkage structures are symmetrically arranged in the telescopic arm at hydraulic cylinder two ends. so, it is achieved the front and back two place strong point improves stability of strutting system better. as optimization, hydraulic cylinder extension arm front end is connected to the synchronization collar 44 that a coaxial sleeve is located on outer support mechanism construction section, and second connecting rod 42 is hinged on the synchronization collar. so can better ensure that each group of outer support mechanism concordance. yet further, the overall rectangular-blocklike of described support member 43 and outer surface are the arcwall face of evagination, so can be beneficial to support member outer surface better and inwall laminating in hole to be processed realizes supporting. further described support member 43 outer surface has one layer of elastomeric layer. so, the internal diameter change of processing in present age hole causes that support member outer surface arc can lean on elastic deformation to realize laminating time inconsistent, improves support strength.
Additionally, described outer support mechanism can also be the outer support mechanism (referring to Fig. 5) of Wedge-type, the outer support mechanism of described Wedge-type includes axially disposed hydraulic cylinder 45, it is successively set on voussoir 46 and the support member 47 in hydraulic cylinder 45 telescopic arm front, one end of the overall curved block structure of support member 47 and arcuate directions is hinged on outer support mechanism construction section and constitutes the inner, the other end is connected on voussoir and constitutes outer end under back-moving spring 48 effect, this side surface that voussoir 46 contacts with support member 47 is the inclined-plane tilted radially inward towards support member direction, voussoir 46 connects away from support member 47 one end and hydraulic cylinder extension arm front end.So, control hydraulic cylinder extension arm to stretch out and voussoir can be driven to lean on its inclined-plane to coordinate drive that support member outer end is protruding is connected on the inwall of processed hole; Therefore there is simple in construction, and easy to assembly, control advantages such as being quick on the draw; When supporting, the counteracting force of support member is largely transferred on voussoir formed along the radially inner component of voussoir and then be cancelled simultaneously, and hydraulic cylinder need not undertake and bigger push against counteracting force, it is ensured that support effect is reliable and stable. Further, described support member 47 outer end is provided with support roller 50 and leans on back-up roller wheel surface and voussoir and processed hole contact internal walls to realize supporting, and so reduces frictional force by rolling, improves stability of strutting system. On the inclined-plane of described voussoir 46, direct-axis is to being provided with chute further, and described roller coordinates spacing rolling in chute. Realize spacing so better, it is ensured that the outer stationarity supportting process. Further, described hydraulic cylinder 45 is dual-rod hydraulic cylinder, and is all provided with voussoir and the supporting piece structure of cooperation before the telescopic arm at two ends. So, it is achieved the front and back two place strong point improves stability of strutting system better. As optimization, in the outer support mechanism of each group, corresponding voussoir 46 is circumferentially connected as being integrally formed of ring-type and synchronizes slip ring 49. So can better ensure that each group of outer support mechanism concordance. Further, described back-moving spring 48 can be arranged on the torsion spring of hinged place, support member the inner or be a circle coil tension spring being connected to support member outer end in the form of a ring. The former torsion spring compact structure is simple, and the coil tension spring of the latter can improve support member action synchronicity further.
Claims (10)
1. a boring processing three-shaft linkage mechanical arm, including overall cylindrical handle of a knife and cutter, Cutting tool installation manner is in the segment of cutting of handle of a knife front end, it is characterized in that, on described handle of a knife, segment of cutting rear end is sequentially formed with the radial feed control section for controlling cutter radial feeding, the control section and for controlling the axial stretching control section of Tool in Cutting section axial stretching of rotating in a circumferential direction for controlling that Tool in Cutting section rotates in a circumferential direction backward, handle of a knife is additionally provided with for realizing the cutter stable supporting device in processed hole inner support.
2. boring processing three-shaft linkage mechanical arm as claimed in claim 1, it is characterized in that, described segment of cutting includes a segment of cutting cylinder, segment of cutting cylinder forward position is provided with Cutting tool installation manner groove and for installing cutter, cutter includes the tool bit part for forming cutting edge and for realizing installing the installing handle part with cutter radial feeding transmission, the cutting-edge of tool bit part exposes outside Cutting tool installation manner groove, tool bit part and installing handle part split-type design and employing bolt are connected to one, the medial surface of installing handle part is provided with driving rack for realizing cutter radial feeding transmission.
3. boring processing three-shaft linkage mechanical arm as claimed in claim 2, it is characterized in that, described driving rack includes the first driving rack and the second driving rack, the first driving rack and the second driving rack and shifts to install side by side and cutter radial feeding travelling gear simultaneously with for realizing cutter radial feeding transmission engages.
4. boring processing three-shaft linkage mechanical arm as claimed in claim 2, it is characterized in that, described radial feed control section, it is coaxially disposed in the radial feed control section cylinder of mechanical arm front portion including one, radial feed control section barrel front end and the fixing connection of segment of cutting cylinder, radial feed control section inner barrel is provided with radial feed and controls motor, described radial feed controls motor output shaft and arranges forward and be connected to forward deceleration transmission system, and described deceleration transmission system includes for the cutter radial feeding travelling gear with the driving rack engagement on cutter.
5. boring processing three-shaft linkage mechanical arm as claimed in claim 4, it is characterized in that, described deceleration transmission system includes harmonic reducing mechanism, harmonic reducing mechanism outfan and a radial feed power transmission shaft are connected, and radial feed power transmission shaft front end extends in segment of cutting inner barrel cavity and arranges cutter radial feeding travelling gear.
6. boring processing three-shaft linkage mechanical arm as claimed in claim 4, it is characterized in that, the described control section that rotates in a circumferential direction, including a control section cylinder that rotates in a circumferential direction being co-axially located in the middle part of mechanical arm, the control section that rotates in a circumferential direction inner barrel is provided with the control motor that rotates in a circumferential direction, the described control motor output shaft that rotates in a circumferential direction is connected with radial feed control section cylinder back-end forward and for driving radial feed control section cylinder to rotate, the described control section cylinder first half that rotates in a circumferential direction coaxially encloses that to be located at radial feed control section cylinder latter half of outer and slip-ring brush is provided therebetween.
7. boring processing three-shaft linkage mechanical arm as claimed in claim 6, it is characterized in that, the described control motor output shaft that rotates in a circumferential direction is provided with rotary drive driving gear, rotary drive driving gear periphery has been evenly arranged multiple rotary drive idler gear and the engagement of rotary drive driving gear, and rotary drive idler gear engages with the rotary drive internal gear being arranged on radial feed control section cylinder back-end surface of internal cavity and drives radial feed control section cylinder to rotate simultaneously.
8. boring processing three-shaft linkage mechanical arm as claimed in claim 6, it is characterized in that, described axial stretching control section, it is co-axially located at mechanical post-brachial axial stretching control section cylinder including one, being provided with axial stretching in axial stretching control section cylinder back-end inner chamber and control motor, described axial stretching controls motor output shaft and arranges forward and connected by steering gear and the control section cylinder back-end that rotates in a circumferential direction and can be driven the elastic motion of control section cylinder that rotates in a circumferential direction.
9. boring processing three-shaft linkage mechanical arm as claimed in claim 8, it is characterized in that, described steering gear includes a leading screw being coaxially disposed with mechanical arm, leading screw rear end controls motor output shaft with axial stretching and is connected, leading screw front end is inserted in a nut cylinder being coaxially disposed, nut cylinder back-end inner chamber is provided with female thread and leading screw engagement, nut barrel front end and the control section cylinder back-end that rotates in a circumferential direction connect, and steering gear also includes the guide frame rotated for the control section cylinder that prevents from rotating in a circumferential direction.
10. boring processing three-shaft linkage mechanical arm as claimed in claim 1, it is characterized in that, cutter stable supporting device includes the outer support mechanism construction section being formed at one section of minor diameter of handle of a knife outer surface, circumferentially uniformly being provided with the outer support mechanism of many groups on outer support mechanism construction section, outer support mechanism includes the support member that can controlled radially to stretch out.
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| CN201610197746.5A CN105642942B (en) | 2016-03-31 | 2016-03-31 | A kind of boring processing three-shaft linkage mechanical arm |
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| CN201610197746.5A CN105642942B (en) | 2016-03-31 | 2016-03-31 | A kind of boring processing three-shaft linkage mechanical arm |
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| CN105642942B CN105642942B (en) | 2018-10-09 |
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| CN105642942B (en) | 2018-10-09 |
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Granted publication date: 20181009 Termination date: 20190331 |