CN106166752A - The rotary shaft of six axle deburring robots - Google Patents
The rotary shaft of six axle deburring robots Download PDFInfo
- Publication number
- CN106166752A CN106166752A CN201610709180.XA CN201610709180A CN106166752A CN 106166752 A CN106166752 A CN 106166752A CN 201610709180 A CN201610709180 A CN 201610709180A CN 106166752 A CN106166752 A CN 106166752A
- Authority
- CN
- China
- Prior art keywords
- angle
- axle
- reductor
- rotary shaft
- rotating machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/006—Deburring or trimming
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the rotary shaft of a kind of robot, particularly relate to the rotary shaft of a kind of six axle deburring robots.The rotary shaft of six axle deburring robots, the lower end of reductor is connected with the top of large arm, and the bottom of large arm is provided with angle electric rotating machine, and angle electric rotating machine outfan is connected with angle axle reductor, angle axle reductor is connected with electro spindle by forearm, and electro spindle front end is provided with cutter.Advantages of the present invention effect: the rotation of the position of tool tip of cutter half is through for zero, and after so changing point of a knife direction, position of tool tip is constant.Owing to rotating partly through for zero, improve the precision at point of a knife.Owing to cutter radius of turn is little, various angle of polishing, so that the length of cutter reduces, improve the rigidity at point of a knife.Significantly reduce reductor and the volume of angle electric rotating machine, reach energy-conserving and environment-protective purpose.
Description
Technical field
The present invention relates to the rotary shaft of a kind of robot, particularly relate to the rotary shaft of a kind of six axle deburring robots.
Background technology
The positions such as the spue line of a lot of iron castings such as die casting and bent axle such as engine cylinder-body, material mouth must in the course of processing
Must carry out clearing up deburring, also have some inside workpieces intersection vacancy also to want deburring.These work in a large number with manually completing,
Have that quality conformance is bad, efficiency is low and the health of workman is also had the technical problem of the biggest damage.In order to solve this
Technical problem, generally uses articulated robot deburring.
The A axle (vertical pivot rotary shaft) of machining center class deburring robot and C axle (longitudinal axis rotary shaft) two in the market
Individual axle is orthogonal, and is also orthogonal between Z axis (vertical pivot), and this five axle deburring robots to change at work
The direction becoming point of a knife is necessary for also motion X-axis (transverse axis), Y-axis (longitudinal axis) and three linear axis of Z axis (vertical pivot) or two therein
Linear axis, this not only adds X-axis (transverse axis), Y-axis (longitudinal axis) and the effective travel of Z axis (vertical pivot) three axles, adds unhairing
The size of thorn robot and weight, also increase point of a knife and change the nyctitropic time, reduce rotational efficienty, also make robot run
Space increases.The X-axis (transverse axis) of deburring robot is directly connected to Y-axis (longitudinal axis), this Synchronization Control to X-axis (transverse axis)
Increase difficulty.And the revolute axes configuration of existing deburring robot is complicated, intensity is low, floor space is big, be difficult to protection.
Two axles of the AC of machining center class deburring robot are orthogonal in the market, with Z axis between be also phase
The most vertical.Its result is intended to change point of a knife direction and is necessary for tri-linear axis of XYZ or two axles motion therein.This not only increases
The effective travel of tri-axles of XYZ added, adds size and the weight of deburring robot, also increases point of a knife and changes nyctitropic
Time, reduce rotational efficienty.
Summary of the invention
The rotary shaft of a kind of six axle deburring robots is provided, it is therefore an objective to make it in order to solve the above-mentioned technical problem present invention
Simple in construction, intensity are high, precision is high, floor space is little, running space is little, operational efficiency is high.
In order to achieve the above object, the present invention is achieved through the following technical solutions: the rotation of six axle deburring robots
Rotating shaft, the lower end of reductor is connected with the top of large arm, and the bottom of large arm is provided with angle electric rotating machine, and angle electric rotating machine exports
End is connected with angle axle reductor, and angle axle reductor is connected with electro spindle by forearm, and electro spindle front end is provided with cutter.
Large arm is made up of following structure: the upper junction plate being connected with reductor, the lower connection being connected with angle electric rotating machine
Plate.
The connection angle of upper junction plate and lower connecting plate is 135, and the both sides of upper junction plate and lower connecting plate are provided with side plate.
Angle electric rotating machine is fixed in large arm.
The outfan of angle axle reductor is connected with forearm by connecting plate.
Forearm is made up of following structure: the first electric spindle support being connected with connecting plate, the second electricity being connected with electro spindle
Spindle carrier, the first electric spindle support and the second electric spindle support pass through bolt connecing.
Cutter is located at reductor central axis and angle electric rotating machine central axis infall.
Reductor central axis and angle electric rotating machine central axis institute angulation 45.
Advantages of the present invention effect: the rotation of the position of tool tip of cutter half, through for zero, so changes point of a knife behind point of a knife direction
Invariant position.Owing to rotating partly through for zero, improve the precision at point of a knife.Owing to cutter radius of turn is little, can polish special
Angle, so that the length of cutter reduces, improves the rigidity at point of a knife.Significantly reduce reductor and the body of angle electric rotating machine
Long-pending, reach energy-conserving and environment-protective purpose.And ensure no matter how point of a knife rotates only change point of a knife direction, does not change position of tool tip, this
Sample can make our deburring robot just can change point of a knife direction, such speed in the case of not moving linear motion axis
Hurry up, good rigidly, cutting force is big.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
The schematic diagram that when Fig. 2 is large arm rotation, position of tool tip is constant.
The schematic diagram that when Fig. 3 is forearm rotation, position of tool tip is constant.
In figure: 1, reductor；2, angle electric rotating machine；3, angle axle reductor；4, electro spindle；5, cutter；6, upper connection
Plate；7, side plate；8, connecting plate；9, the first electric spindle support；10, the second electric spindle support；11, lower connecting plate.
Detailed description of the invention
The invention will be further described for Structure Figure below, but the design concept of the present invention is not limited thereto, all profits
With this design, the present invention is carried out the change of unsubstantiality, the behavior invading scope all should be belonged to.
The rotary shaft of the present invention six axle deburring robot as shown in the figure, driving means is connected with reductor 1, reductor 1
Lower end be connected with the top of large arm, the bottom of large arm is provided with angle electric rotating machine 2, angle electric rotating machine 2 outfan and angle
Axle reductor 3 connects, and angle axle reductor 3 is connected with electro spindle 4 by forearm, and electro spindle 4 front end is provided with cutter 5.
Large arm is made up of following structure: the upper junction plate 6 being connected with reductor 1, the lower company being connected with angle electric rotating machine 3
Fishplate bar 11.
The connection angle of upper junction plate 6 and lower connecting plate 11 is 135, and the both sides of upper junction plate 6 and lower connecting plate 11 are provided with
Side plate 7.
Angle electric rotating machine 2 is fixed in large arm.
The outfan of angle axle reductor 3 is connected with forearm by connecting plate 8.
Forearm is made up of following structure: the first electric spindle support 9 being connected with connecting plate 8, second be connected with electro spindle 4
Electric spindle support 10, the first electric spindle support 9 and the second electric spindle support 10 pass through bolt connecing.
Cutter 5 is located at reductor 1 central axis and angle electric rotating machine 2 central axis infall.
Reductor 1 central axis and angle electric rotating machine 2 central axis institute angulation 45.
The operation principle of the present invention: design requirement according to workpiece, reductor work can drive large arm action, and angle rotates
Motor work can drive forearm action, when large arm and forearm action, in the case of the point of a knife on cutter is in invariant position,
Reducing stroke, improve speed, cutting force is big.
Claims (8)
1. the rotary shaft of six axle deburring robots, it is characterised in that the lower end of reductor is connected with the top of large arm, large arm
Bottom is provided with angle electric rotating machine, and angle electric rotating machine outfan is connected with angle axle reductor, and angle axle reductor is by little
Arm is connected with electro spindle, and electro spindle front end is provided with cutter.
The rotary shaft of six axle deburring robots the most according to claim 1, it is characterised in that large arm is by following structure structure
Become: the upper junction plate being connected with reductor, the lower connecting plate being connected with angle electric rotating machine.
The rotary shaft of six axle deburring robots the most according to claim 2, it is characterised in that upper junction plate and lower connection
The connection angle of plate is 135, and the both sides of upper junction plate and lower connecting plate are provided with side plate.
The rotary shaft of six axle deburring robots the most according to claim 1, it is characterised in that angle electric rotating machine is fixed
In large arm.
The rotary shaft of six axle deburring robots the most according to claim 1, it is characterised in that angle axle reductor defeated
Go out end to be connected with forearm by connecting plate.
The rotary shaft of six axle deburring robots the most according to claim 5, it is characterised in that forearm is by following structure structure
Become: the first electric spindle support being connected with connecting plate, the second electric spindle support being connected with electro spindle, the first electric spindle support with
Second electric spindle support passes through bolt connecing.
The rotary shaft of six axle deburring robots the most according to claim 1, it is characterised in that cutter is located in reductor
Mandrel line and angle electric rotating machine central axis infall.
The rotary shaft of six axle deburring robots the most according to claim 7, it is characterised in that reductor central axis with
Angle electric rotating machine central axis institute angulation 45.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610709180.XA CN106166752A (en) | 2016-08-24 | 2016-08-24 | The rotary shaft of six axle deburring robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610709180.XA CN106166752A (en) | 2016-08-24 | 2016-08-24 | The rotary shaft of six axle deburring robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106166752A true CN106166752A (en) | 2016-11-30 |
Family
ID=57376745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610709180.XA Pending CN106166752A (en) | 2016-08-24 | 2016-08-24 | The rotary shaft of six axle deburring robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106166752A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150345A (en) * | 2017-05-18 | 2017-09-12 | 湖南大学 | Manipulator machining detecting system and manipulator machining detection method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030077139A1 (en) * | 2001-10-18 | 2003-04-24 | Tsann-Huei Chang | Gantry type hybrid parallel linkage five-axis machine tool |
| CN102133753A (en) * | 2010-01-21 | 2011-07-27 | 统旺科技工业股份有限公司 | Parallel connection mechanism and multifunctional five-shaft robot |
| CN102357924A (en) * | 2011-07-25 | 2012-02-22 | 南京大地水刀股份有限公司 | Water cutting head attitude control mechanism using cut-in point as center |
| CN202398898U (en) * | 2012-01-05 | 2012-08-29 | 上海阿爱姆电器有限公司 | Intelligent deburring machine |
| CN203305309U (en) * | 2013-05-11 | 2013-11-27 | 陈涛 | Multi-directional linkage gun head of water-jet cutting machine |
| WO2014115585A1 (en) * | 2013-01-28 | 2014-07-31 | 三菱重工業株式会社 | Water jet peening device |
| CN104368893A (en) * | 2013-08-15 | 2015-02-25 | 张常山 | Five-shaft link cutting machine comprising novel double-spindle tool rest |
| CN105291194A (en) * | 2015-12-07 | 2016-02-03 | 上海维宏电子科技股份有限公司 | Five-axis-head water cutting machining device with accuracy adjusting device |
| CN205363885U (en) * | 2016-01-26 | 2016-07-06 | 德州凯斯锐数控科技有限公司 | Unlimited rotary machine hand |
| CN206029911U (en) * | 2016-08-24 | 2017-03-22 | 沈阳莱茵机器人有限公司 | Six deburring robot's rotation axis |
-
2016
- 2016-08-24 CN CN201610709180.XA patent/CN106166752A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030077139A1 (en) * | 2001-10-18 | 2003-04-24 | Tsann-Huei Chang | Gantry type hybrid parallel linkage five-axis machine tool |
| CN102133753A (en) * | 2010-01-21 | 2011-07-27 | 统旺科技工业股份有限公司 | Parallel connection mechanism and multifunctional five-shaft robot |
| CN102357924A (en) * | 2011-07-25 | 2012-02-22 | 南京大地水刀股份有限公司 | Water cutting head attitude control mechanism using cut-in point as center |
| CN202398898U (en) * | 2012-01-05 | 2012-08-29 | 上海阿爱姆电器有限公司 | Intelligent deburring machine |
| WO2014115585A1 (en) * | 2013-01-28 | 2014-07-31 | 三菱重工業株式会社 | Water jet peening device |
| CN203305309U (en) * | 2013-05-11 | 2013-11-27 | 陈涛 | Multi-directional linkage gun head of water-jet cutting machine |
| CN104368893A (en) * | 2013-08-15 | 2015-02-25 | 张常山 | Five-shaft link cutting machine comprising novel double-spindle tool rest |
| CN105291194A (en) * | 2015-12-07 | 2016-02-03 | 上海维宏电子科技股份有限公司 | Five-axis-head water cutting machining device with accuracy adjusting device |
| CN205363885U (en) * | 2016-01-26 | 2016-07-06 | 德州凯斯锐数控科技有限公司 | Unlimited rotary machine hand |
| CN206029911U (en) * | 2016-08-24 | 2017-03-22 | 沈阳莱茵机器人有限公司 | Six deburring robot's rotation axis |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150345A (en) * | 2017-05-18 | 2017-09-12 | 湖南大学 | Manipulator machining detecting system and manipulator machining detection method |
| CN107150345B (en) * | 2017-05-18 | 2019-10-18 | 湖南大学 | Manipulator machining detection system and manipulator machining detection method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161130 |