CN106670553A - Planetary speed reduction type eccentricity-adjustable helical hole-milling device - Google Patents
Planetary speed reduction type eccentricity-adjustable helical hole-milling device Download PDFInfo
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- CN106670553A CN106670553A CN201710103306.3A CN201710103306A CN106670553A CN 106670553 A CN106670553 A CN 106670553A CN 201710103306 A CN201710103306 A CN 201710103306A CN 106670553 A CN106670553 A CN 106670553A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
-
- 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
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/70—Stationary or movable members for carrying working-spindles for attachment of tools or work
-
- 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
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/32—Feeding working-spindles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a planetary speed reduction type eccentricity-adjustable helical hole-milling device. The planetary speed reduction type eccentricity-adjustable helical hole-milling device is characterized by comprising a rotation system, a revolution system, a radial eccentricity adjusting system, a clamping braking system assembly and an axial feeding system. The radial eccentricity adjusting system can achieve precise trace linear eccentricity adjustment with high transmission ratio, and required input power is small. Compared with sliding block adjusting structures disclosed by existing patents, the radial eccentricity adjusting system can perform adjustment conveniently with less labor, and compared with a dual eccentric sleeve structure and an offset sliding block structure, the ratio of the size of the adjusting structure to the size of a rotation power source is greatly decreased, the occupied space is reduced, and the dead weight is reduced relatively in case of the identical material. Compared with an electromagnetic brake, the clamping braking system assembly can perform braking easily and conveniently; compared with a radial screw holding structure, the required pretightening force is small, and clamping is reliable; and compared with a worm and gear structure, self-locking never fails, and the working stability is high.
Description
Technical field
The present invention is, on the difficult-to-machine material helical trajectory hole fabrication techniques such as carbon fiber, titanium alloy, to be related to a kind of planet to subtract
Fast formula adjusts offset helical milling device.
Background technology
It is widely used to improve the difficult-to-machine materials such as the carrying capacity of aircraft, titanium alloy, carbon fibre composite
In the manufacture of Large Scale Space Vehicle, the quality of its hole fabrication techniques will directly affect the assembly precision and service life of aircraft.According to
The airframe fatigue failure causes of incident of statistics 70% betides connecting hole in structural connection position, 80% fatigue crack
Place.It is extensive etc. with its simple structure, flexible height, efficiency high, adaptation occasion towards heavy-duty machines people's punching system of flexible manufacturing
Outstanding advantages, as the drilling mode that domestic and international aerospace field large-scale component is most widely used.
Conventional borehole process is a continuous working angles, and blade is in contact with workpiece all the time.Contacted during cutting
Face temperature is very high, and for the material of poor thermal conductivity, continuous working angles make temperature constantly accumulate, and accelerate the mill of cutter
Damage, and cause machined surface quality to decline.Helical milling process is interrupted milling process, is conducive to the radiating of cutter, so as to drop
It is low because temperature build and caused by tool wear failure risk.Compared with conventional borehole, can be used during helical milling
Micro lubricating and air cooling mode realize cooling, are a processes for environmental protection.The mode of eccentric processing causes that chip has
Enough spaces are discharged from hole slot, and chip removal mode is no longer the principal element for influenceing hole surface quality.
In patent CN200910306026.8, patent CN201020263681.8, patent CN200920308766 and patent
Radial deflection structure shown in CN201310604032.8 adjusts offset using interior outer eccentric adjusting sleeve structure, by driving
Motor on-line tuning inside and outside sleeve relative rotation angle to change the offset of cutter, but due to its non-displacement feedback element, and
There is on-line tuning control algolithm complexity, on-line tuning poor reliability, height, Adjustment precision difference etc. are a series of to be required to control system
Problem；In patent CN201110038893.5, patent CN201110088154.7, patent US6382890B1 and patent
Radial deflection structure shown in CN201310105521.9 adjusts offset using double eccentric structures by worm and gear, but
Because worm and gear is by the micro rotation regulation offset of big speed ratio, not only its transmission efficiency is low, and is Nonlinear Adjustment
Calculate complicated, worm and gear has backlass, and then influences degree of regulation；In patent CN201210150627.6 and patent
Folding wedge block structure is used in CN201220218351.6, is adjusted by driving stepper motor linear micro, will to control system
Ask higher；In patent CN201020148675.8 radial deflections structure using dovetail groove, skew slide block structure, by swing pinion
Driving is embedded in the tooth bar regulation offset on skew sliding block, and holding screw holds eccentric structure tightly, in patent
Dovetail groove slide block structure is used in CN201210157184.3, offset is adjusted by spring-return structure, differential screw, utilized
Voussoir locking fastening structure eccentric throw, in patent CN201410334409.7 using skew slide block structure regulation eccentric throw, passes through
Rotary moveable disappear gap nut reduce backlass, rotation hold tightly screw rod fastening eccentric throw, patent CN201020148675.8, patent
CN201210157184.3 and patent CN201410334409.7 are using directly regulation, it is impossible to realize big speed ratio linear micro
Regulation；The above-mentioned equal non-displacement feedback element of patent, realizes that Precise eccentric amount is adjusted.
In patent CN201210196101.1, patent CN201310604032.8 and patent CN201320822144.6
Using double eccentric sleeves barrel structure, when rotation power source power identical appearance volume is suitable, inside and outside rotatable sleeve takes up room
Volume is larger；Folding wedge block structure, its dual-wedge volume and rotation power volume source are used in patent CN201210150627.6
The ratio between it is larger；Dovetail groove slide block structure is used in patent CN201210157184.3, by spring-return structure, differential screw
Regulation offset, using voussoir locking fastening structure eccentric throw, although its eccentric structure volume is smaller with power source volume, but
Overall free-wheeling system offset is by differential screw by dovetail groove slide block structure face contact adjusting, and its frictional resistance is larger, regulation
Power is larger；In patent CN201410334409.7, using skew sliding block, electro spindle is fixed in skew sliding block, because skew is slided
Block is square-outside and round-inside, occupies spatial volume greatly, causes its adjustment structure volume larger with the ratio between rotation power volume source.
Work as bias using double eccentric structures in patent CN200910306026.8 and patent CN201020263681.8
At the end of amount regulation, the position of double eccentric structures is fixed by electromagnetic brake, it is higher to control system requirement；In patent
Double eccentric sleeves barrel structure is used in CN201310604032.8, by Dual-motors Driving inner-outer sleeve on-line tuning eccentric throw, to control
System requirements processed is higher；Double eccentric structures in patent CN201110038893.5, worm and gear regulation regulation eccentric throw, utilize
Offset is fixed in worm and gear self-locking, and it is susceptible to failure during vibrations；Adopted in patent CN201210157184.3
Dovetail groove slide block structure is used, offset is adjusted by spring-return structure, differential screw, it is eccentric using voussoir locking fastening structure
Away from, in patent CN201410334409.7 using skew slide block structure regulation eccentric throw, hold screw rod fastening tightly using rotation eccentric
Away from the pretightning force for needed for small area is contacted is larger with sliding block due to screw rod for above patent, and must be adjusted by reinforcement instrument, adjustment
It is complicated.
The content of the invention
According to technical problem set forth above, and provide a kind of planetary reduction gear formula regulation offset helical milling device.This
Invent the technological means for using as follows：
A kind of planetary reduction gear formula adjusts offset helical milling device, including self-rotating system, revolution system, radial disbalance amount
Regulating system, clamping brake system components and axial feeding system；
The self-rotating system includes electro spindle, and the front end of the electro spindle is connected by spring cutting ferrule with milling cutter tool, institute
The rear end for stating electro spindle is provided with wiring, and the leading portion outer wall of the electro spindle is socketed with electro spindle fixed seat I, in the electro spindle
Section outer wall is socketed with electro spindle fixed seat II；
The revolution system includes case follower and revolution sleeve, and the front end of the case follower is provided with bearing drive end bearing bracket,
The rear end of the case follower is provided with housing rear end lid, the housing rear end cover be provided with taper hole shape guide sleeves and with the wiring
The hole-through conductive ring of connection, is provided with bearing rear end cap, the revolution sleeve between the housing rear end lid and the case follower
Front end be provided with revolution barrel forward end lid, the revolution barrel forward end cover be provided with the Spring Card set through hole, the public affairs
The outer wall of rotaring sleeve drive end bearing bracket is connected by the bearing I that revolves round the sun with the inwall of the case follower, and the bearing drive end bearing bracket is socketed in
The case follower and the revolution barrel forward end are pressed on the outer wall of the revolution barrel forward end lid and by the revolution bearing I
Cover, the rear end of the revolution sleeve is provided with revolution sleeve rear end lid, and the revolution sleeve rear end covers and is provided with the wiring and wears
The hole crossed, the outer wall of the revolution sleeve rear end lid is connected by the bearing II that revolves round the sun with the inwall of the case follower, the axle
Hold rear end cap be socketed in it is described revolution sleeve rear end lid outer wall on and by it is described revolution bearing II be pressed in the case follower and
The revolution sleeve rear end is covered, and the inwall of the corresponding revolution sleeve rear end lid in the electro spindle rear end is provided with rigidity increasing
Strong ring (the revolution sleeve rear end lid is that thin-wall part bears high torque simultaneously, therefore needs the rigidity enhancing ring), the public affairs
The outer wall of rotaring sleeve rear end cap is provided with big belt wheel, and the outer wall of the case follower is provided with servomotor frame, the servomotor frame
Servomotor is provided with, the output shaft of the servomotor is provided with small pulley, and the small pulley is after through the housing
The Timing Belt of end cap is connected with the big belt wheel；
The radial disbalance amount regulating system is included positioned at the corresponding revolution sleeve of the electro spindle fixed seat I
Guide rail locating ring on inwall, the guide rail on the inwall of the corresponding revolution sleeve of the electro spindle fixed seat II is determined
Position semi-ring, positioned at the rack and pinion axle of the upper end of electro spindle fixed seat II, the guide rail locating ring is provided with line slide rail
I, the line slide rail I is by being fixed on the lower end of the slider I in the electro spindle fixed seat I and the electro spindle fixed seat I
Connection, the guide rail positions semi-ring is provided with line slide rail II, and the line slide rail II is fixed by being fixed on the electro spindle
Sliding block II on seat II is connected with the lower end of the electro spindle fixed seat II, and the side wall of the guide rail positions semi-ring is provided with displacement biography
Sensor, the sliding block II is provided with sensor connecting plate, and institute's displacement sensors are connected by back-moving spring with the sensor
Plate is connected, and the bearing of trend of the line slide rail I and the line slide rail II is each perpendicular to the axis of the electro spindle, described to lead
The gear shaft locating ring being fixedly connected with the inwall of the revolution sleeve, the guide rail positioning half are provided with front side of rail positions semi-ring
The brake disc locating ring being fixedly connected with the inwall of the revolution sleeve is provided with rear side of ring, one end of the gear shaft is provided with cunning
Block shaft coupling, the other end of the gear shaft sequentially passes through the revolution sleeve rear end lid, rigidity enhancing ring, the braking
Disk locating ring is connected with the gear shaft locating ring, and the gear shaft is provided with the gear being connected with the tooth bar, the radial direction
Offset regulating system also includes the planet gear reducing mechanism for driving the gear shaft to rotate by the oldham coupling；
The clamping brake system components include terminal pad, friction plate and platen, and the terminal pad is solid with the electro spindle
The front end of reservation I is fixedly connected, and the friction plate is fixedly connected with the front end of the terminal pad, and the platen passes through feather key and position
Chute connection on the inwall of the revolution barrel forward end lid, the front end of the revolution barrel forward end lid is provided with two middle air-conditionings
Whole screw rod, the hollow adjusting bolt is provided with pull bar, and the other end of the pull bar is provided with position-arresting disk, and the pull bar is sequentially passed through
Revolution barrel forward end lid and the platen, the side that the platen is located at the friction plate are provided with the receiving position-arresting disk
Groove, is socketed with spring on the pull bar, the spring is located at the front inner wall of the platen and the revolution barrel forward end lid
Between, the clamping brake system components also include being located between the brake disc locating ring and the electro spindle fixed seat II
Brake disc, the brake disc is fixedly connected with the electro spindle fixed seat II；
The axial feeding system include axial feed device and supporting plate, the case follower by the supporting plate with it is described
Axial feed device is connected.
The planet gear reducing mechanism includes planetary gear housing, before the planetary gear housing of the planetary gear housing forward end
End cap, positioned at the planetary gear housing rear end lid of the planetary gear housing rear end, positioned at the planetary gear housing rear end lid with it is described
Planet carrier support between planetary gear housing, planet carrier and output shaft supporting frame in the planetary gear housing, positioned at institute
State planet carrier to support and the planet carrier between the planet carrier and output shaft supporting frame, rolled round, input shaft, sun wheel shaft,
Sun gear in the planet carrier and the multiple planetary gears engaged with the sun gear, described input shaft one end passes through key I
It is connected with the rolled round, the other end sequentially passes through the planetary gear housing rear end lid and the planet carrier is supported and by tooth-like
Axle device is connected with the sun wheel shaft, and the sun wheel shaft is connected by key II with the sun gear, the planet
Frame two ends are supported by bearing with the planet carrier respectively and the planet carrier and output shaft supporting frame be connecteds, and the planetary gear is logical
Cross planet wheel spindle to be connected with the planet carrier, the planetary gear is nibbled with the internal gear being fixed in the planetary gear inner walls
Close, the planetary gear housing rear end covers and be provided with eccentric throw dial, the eccentric throw dial be located at the rolled round with it is described
Between planetary gear housing rear end lid, the planet gear reducing mechanism also includes pinion shaft, output shaft and gear wheel, the small tooth
One end of wheel shaft is connected by key III with the planet carrier, and the other end of the pinion shaft is provided with little gear, the output shaft
One end be connected by bearing and the planet carrier and output shaft supporting frame, the gear wheel is by key IV and output shaft company
Connect, and engaged with the little gear, the other end of the output shaft sequentially passes through what is covered positioned at the planetary gear housing forward end
Positioning sleeve and the taper hole shape guide sleeves covered positioned at the housing rear end are connected with the oldham coupling, the taper hole shape
Guide sleeves are socketed on the positioning sleeve, and the taper hole shape guide sleeves are radially provided with holding screw.
The axial feed device includes base, is fixed on stepper motor and leading screw on described base one end, described
The output end of stepper motor is connected by shaft coupling with the leading screw, and the leading screw is provided with feed screw nut, the feed screw nut
It is fixedly connected with the supporting plate, axially extending axial guidance is additionally provided with the base, the supporting plate passes through sliding block III and institute
Axial guidance connection is stated, the pan frontward end is provided with the cutter positioning passed through for the milling cutter tool and covers, the base rear end
It is provided with adpting flange.
The hole-through conductive ring, the servomotor and the external variable frequency power source of the stepper motor.
The guide rail locating ring, the gear shaft locating ring, the brake disc locating ring and the rigidity strengthen the ring of ring
Inside it is track type eccentric orfice.
The Timing Belt is provided with tensioning wheel, and the tensioning wheel is connected by tension wheel shaft with the servomotor frame, institute
Tension wheel shaft is stated to be connected with the housing rear end lid by otic placode.
The housing rear end is covered and is provided with displacement display screen.
The pull bar is connected by stop nut with the hollow adjusting bolt.
Between the bearing drive end bearing bracket and the revolution barrel forward end lid and the bearing rear end cap and the revolution sleeve
Sealing ring is equipped between rear end cap.
The slider I is provided with the ball contacted with the line slide rail I；The sliding block II is provided with to be slided with the straight line
The ball of the contact of rail II.
The radial disbalance amount regulating system drives the planet gear reducing mechanism using the rolled round, by the sliding block
Shaft coupling is docked with the gear shaft, and driving is fixed on the tooth bar in the electro spindle fixed seat II, reaches raising described
Rolled round and the gear shaft relative rotation ratio, and then realize by the micro linear movement of tooth bar described in the rolled round rotation driving,
Realize the purpose of the electro spindle high accuracy eccentric adjusting；The clamping brake system components utilize the hollow adjusting bolt
Pull the pull bar to drive the platen to overcome and recover the spring pressure, the platen is separated and knot with the friction plate
Close, reach the electro spindle eccentric adjusting with the purpose for clamping.
Double eccentric sleeves barrel structure, driving stepper motor or the worm screw regulation adjusted due to worm and gear or online motor
Chute slide block structure, direct geared drive tooth bar slide block structure or screw drive skew slide block structure, its double eccentric sleeves cylinder
The calculating that structure has the non-linear trace regulation of rotation is complicated, and precision is difficult to ensure that, the linear chute of electronic or screw rod regulation is slided
Block structure, its electronic mode control algolithm is complicated, screw rod regulative mode without big speed ratio trace regulation the shortcomings of, the present invention is proposed
One kind realizes convert rotational motion being that linear micro adjusts the milling cutter tool offset by the planet gear reducing mechanism
Purpose, its degree of regulation is high, it is laborsaving to adjust, deadweight is reduced, the convenient helical milling device of reliable clamping.The device passes through institute
State adpting flange to be connected with industrial robot end, reduce industrial robot stiffness by itself difference and carry the low shadow to positional precision
Ring, it is adaptable to the efficient drilling of the difficult-to-machine material such as aerospace field carbon fiber, titanium alloy.
Compared with prior art, the present invention has the advantages that：
1. degree of regulation is high
In patent CN200910306026.8, patent CN201020263681.8, patent CN200920308766 and patent
Radial deflection structure shown in CN201310604032.8 adjusts offset using interior outer eccentric adjusting sleeve structure, by driving
Motor on-line tuning inside and outside sleeve relative rotation angle to change the offset of cutter, but due to its non-displacement feedback element, and
There is on-line tuning control algolithm complexity, on-line tuning poor reliability, height, Adjustment precision difference etc. are a series of to be required to control system
Problem；In patent CN201110038893.5, patent CN201110088154.7, patent US6382890B1 and patent
Radial deflection structure shown in CN201310105521.9 adjusts offset using double eccentric structures by worm and gear, but
Because worm and gear is by the micro rotation regulation offset of big speed ratio, not only its transmission efficiency is low, and is Nonlinear Adjustment
Calculate complicated, worm and gear has backlass, and then influences degree of regulation；In patent CN201210150627.6 and patent
Folding wedge block structure is used in CN201220218351.6, is adjusted by driving stepper motor linear micro, will to control system
Ask higher；In patent CN201020148675.8 radial deflections structure using dovetail groove, skew slide block structure, by swing pinion
Driving is embedded in the tooth bar regulation offset on skew sliding block, and holding screw holds eccentric structure tightly, in patent
Dovetail groove slide block structure is used in CN201210157184.3, offset is adjusted by spring-return structure, differential screw, utilized
Voussoir locking fastening structure eccentric throw, in patent CN201410334409.7 using skew slide block structure regulation eccentric throw, passes through
Rotary moveable disappear gap nut reduce backlass, rotation hold tightly screw rod fastening eccentric throw, patent CN201020148675.8, patent
CN201210157184.3 and patent CN201410334409.7 are using directly regulation, it is impossible to realize big speed ratio linear micro
Regulation；The above-mentioned equal non-displacement feedback element of patent, realizes that Precise eccentric amount is adjusted.
Radial disbalance amount regulating system of the invention realizes that big speed ratio is driven by detachable planet gear reducing mechanism,
By rack-and-pinion by the micro linear movement of radial direction that convert rotational motion is electro spindle, and half is positioned by installed in guide rail
Displacement transducer on ring and sensor connecting plate is provided with installed in sliding block II, realizes the real-time accurate adjustment offset of feedback,
Because slider I, sliding block II are respectively with line slide rail I and line slide rail II for rolling friction is contacted, frictional resistance is small, i.e. the present invention
Radial disbalance amount regulating system, can not only realize the micro linear accurate adjustment offset of big speed ratio, and required defeated
Enter power also very little.
2. adjusting laborsaving, deadweight reduces
In patent CN201210196101.1, patent CN201310604032.8 and patent CN201320822144.6
Using double eccentric sleeves barrel structure, when rotation power source power identical appearance volume is suitable, inside and outside rotatable sleeve takes up room
Volume is larger；Folding wedge block structure, its dual-wedge volume and rotation power volume source are used in patent CN201210150627.6
The ratio between it is larger；Dovetail groove slide block structure is used in patent CN201210157184.3, by spring-return structure, differential screw
Regulation offset, using voussoir locking fastening structure eccentric throw, although its eccentric structure volume is smaller with power source volume, but
Overall free-wheeling system offset is by differential screw by dovetail groove slide block structure face contact adjusting, and its frictional resistance is larger, regulation
Power is larger；In patent CN201410334409.7, using skew sliding block, electro spindle is fixed in skew sliding block, because skew is slided
Block is square-outside and round-inside, occupies spatial volume greatly, causes its adjustment structure volume larger with the ratio between rotation power volume source.
Radial disbalance amount regulating system of the invention use guide rail locating ring, gear shaft locating ring, brake disc locating ring and
It is circular that rigidity enhancing ring is outside ring, is track type eccentric orfice in ring, and electro spindle is existed by line slide rail I and line slide rail II
Sliding in guide rail locating ring and guide rail positions semi-ring, because slider I, sliding block II are respectively with line slide rail I and line slide rail II
Rolling friction is contacted, and frictional resistance is small, relative to be disclosed patent sliding block adjustment structure, easy to adjust laborsaving.Due to electro spindle
Relative revolution sleeve eccentric position is supported by guide rail locating ring and guide rail positions semi-ring, and it is clamped by friction plate and platen
Spring pressure axial grip, relative to double eccentric sleeves structure, skew slide block structure, makes its adjustment structure volume and rotation power source
The ratio between volume is greatly reduced, and take up room reduction, and under equivalent material, relative deadweight is reduced.
3. it is high that simple and convenient, laborsaving, job stability is clamped
Work as bias using double eccentric structures in patent CN200910306026.8 and patent CN201020263681.8
At the end of amount regulation, the position of double eccentric structures is fixed by electromagnetic brake, it is higher to control system requirement；In patent
Double eccentric sleeves barrel structure is used in CN201310604032.8, by Dual-motors Driving inner-outer sleeve on-line tuning eccentric throw, to control
System requirements processed is higher；Double eccentric structures in patent CN201110038893.5, worm and gear regulation eccentric throw, using worm gear
Offset is fixed in worm screw self-locking, and it is susceptible to failure in vibration processes；Swallow is used in patent CN201210157184.3
Stern notch slide block structure, by spring-return structure, differential screw adjust offset, using voussoir locking fastening structure eccentric throw,
In patent CN201410334409.7 using skew slide block structure regulation eccentric throw, screw rod fastening eccentric throw is held tightly using rotation,
The pretightning force for needed for small area is contacted is larger with sliding block due to screw rod for above patent, and must be adjusted by reinforcement instrument, and adjustment is multiple
It is miscellaneous.
Clamping brake system components of the invention use spring restoring force pressing friction piece axial grip in terminal pad, phase
For electromagnetic brake, brake simple and convenient；And due to friction plate with terminal pad for face contacts, required spring pressure is smaller, phase
For radial screw clasping structure, required pretightning force is smaller, reliable clamping；Relative to worm gear structure, without self-locking failure, work
Make stability high.
The present invention can be widely popularized in fields such as hole fabrication techniques for the foregoing reasons.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the space structure of planetary reduction gear formula regulation offset helical milling device in specific embodiment of the invention
Schematic diagram.
Fig. 2 is the sectional view of planetary reduction gear formula regulation offset helical milling device in specific embodiment of the invention.
Fig. 3 is that planetary reduction gear formula adjusts offset helical milling device in case follower in specific embodiment of the invention
With the sectional view of the structure in housing rear end lid (A-A to) in section view direction such as Fig. 2.
Fig. 4 is the sectional view of planet gear reducing mechanism in specific embodiment of the invention.
Fig. 5 is planetary reduction gear formula regulation offset helical milling device (removal planet in specific embodiment of the invention
Wheel reducing gear) process hole during structural representation.
Fig. 6 is that planetary reduction gear formula adjusts offset helical milling device in case follower in specific embodiment of the invention
With the structural representation in housing rear end lid.
Fig. 7 is to carry out spiral shell using planetary reduction gear formula regulation offset helical milling device in specific embodiment of the invention
Revolve the workflow diagram of the preferable case study on implementation of hole milling one.
Specific embodiment
As shown in Fig. 1-Fig. 7, a kind of planetary reduction gear formula adjusts offset helical milling device, including self-rotating system 1, revolution
System 2, radial disbalance amount regulating system 3, clamping brake system components 4 and axial feeding system 5；
The self-rotating system 1 includes electro spindle 6, and the front end of the electro spindle 6 is connected by spring cutting ferrule 7 with milling cutter tool 8
Connect, the rear end of the electro spindle 6 is provided with wiring 9, and the leading portion outer wall of the electro spindle 6 is socketed with electro spindle fixed seat I 10, described
The stage casing outer wall of electro spindle 6 is socketed with electro spindle fixed seat II 11；
The revolution system 2 includes case follower 12 and revolution sleeve 13, and the front end of the case follower 12 is provided with bearing
Drive end bearing bracket 14, the rear end of the case follower 12 is provided with housing rear end lid 15, and the housing rear end lid 15 is provided with taper hole shape and draws
Guide pin bushing 16 and the hole-through conductive ring 17 being connected with the wiring 9, set between the housing rear end lid 15 and the case follower 12
The front end for having bearing rear end cap 18, the revolution sleeve 13 is provided with revolution barrel forward end lid 19, the revolution barrel forward end lid 19
The hole that the spring cutting ferrule 7 is passed through is provided with, the outer wall of the revolution barrel forward end lid 19 is by bearing I 20 and the shell of revolving round the sun
The inwall connection of body sleeve 12, the bearing drive end bearing bracket 14 is socketed on the outer wall of the revolution barrel forward end lid 19 and will be described
Revolution bearing I 20 is pressed on the case follower 12 and the revolution barrel forward end lid 19, and the rear end of the revolution sleeve 13 sets
There is revolution sleeve rear end lid 21, the revolution sleeve rear end lid 21 is provided with the hole that the wiring 9 is passed through, after the revolution sleeve
The outer wall of end cap 21 is connected by the bearing II 22 that revolves round the sun with the inwall of the case follower 12, and the bearing rear end cap 18 is socketed in
The case follower 12 and the revolution are pressed on the outer wall of the revolution sleeve rear end lid 21 and by the revolution bearing II 22
On sleeve rear end lid 21, the inwall of the corresponding revolution sleeve rear end lid 21 in the rear end of the electro spindle 6 is provided with rigidity enhancing
Ring 23, the outer wall of the revolution sleeve rear end lid 21 is provided with big belt wheel 24, and the outer wall of the case follower 12 is provided with servomotor
Frame 25, the servomotor frame 25 is provided with servomotor 26, and the output shaft of the servomotor 26 is provided with small pulley 27, institute
Small pulley 27 is stated to be connected with the big belt wheel 24 by through the Timing Belt 28 of the housing rear end lid 15；
The radial disbalance amount regulating system 3 is included positioned at the corresponding revolution set of the electro spindle fixed seat I 10
Guide rail locating ring 29 on the inwall of cylinder 13, in the corresponding revolution sleeve 13 of the electro spindle fixed seat II 11
Guide rail positions semi-ring 30 on wall, positioned at the tooth bar 31 and gear shaft 32 of the upper end of electro spindle fixed seat II 11, the guide rail
Locating ring 29 is provided with line slide rail I 33, and the line slide rail I 33 is by the cunning that is fixed in the electro spindle fixed seat I 10
Block I 34 is connected with the lower end of the electro spindle fixed seat I 10, and the guide rail positions semi-ring 30 is provided with line slide rail II 35, institute
Line slide rail II 35 is stated by being fixed on the sliding block II 36 in the electro spindle fixed seat II 11 with the electro spindle fixed seat II
11 lower end connection, the side wall of the guide rail positions semi-ring 30 is provided with displacement transducer 37, and the sliding block II 36 is provided with sensing
Device connecting plate 38, institute's displacement sensors 37 are connected by back-moving spring 39 with the sensor connecting plate 38, and the straight line is slided
The bearing of trend of rail I 33 and the line slide rail II 35 is each perpendicular to the axis of the electro spindle 6, the guide rail positions semi-ring 30
Front side be provided with the gear shaft locating ring 40 that is fixedly connected of inwall with the revolution sleeve 13, the guide rail positions semi-ring 30
Rear side is provided with the brake disc locating ring 41 being fixedly connected with the inwall of the revolution sleeve 13, and one end of the gear shaft 32 is provided with
Oldham coupling 42, the other end of the gear shaft 32 sequentially passes through the revolution sleeve rear end lid 21, rigidity enhancing ring
23rd, the brake disc locating ring 41 is connected with the gear shaft locating ring 40, and the gear shaft 32 is provided with and the tooth bar 31
The gear 43 of connection, the radial disbalance amount regulating system 3 also includes driving the gear shaft by the oldham coupling 42
The planet gear reducing mechanism of 32 rotations；
It is described clamping brake system components 4 include terminal pad 44, friction plate 45 and platen 46, the terminal pad 44 with it is described
The front end of electro spindle fixed seat I 10 is fixedly connected, and the friction plate 45 is fixedly connected with the front end of the terminal pad 44, the pressure
Disk 46 is connected by feather key 47 with the chute 48 on the inwall of the revolution barrel forward end lid 19, the revolution barrel forward end
The front end of lid 19 is provided with two hollow adjusting bolts 49, and the hollow adjusting bolt 49 is provided with pull bar 50, the pull bar 50
The other end is provided with position-arresting disk 51, and the pull bar 50 sequentially passes through the revolution barrel forward end lid 19 and the platen 46, the pressure
The side that disk 46 is located at the friction plate 45 is provided with the groove 52 for accommodating the position-arresting disk 51, and spring is socketed with the pull bar 50
53, the spring 53 is located between the front inner wall of the platen 46 and the revolution barrel forward end lid 19, described to clamp braking
System component 4 also includes the brake disc 54 being located between the brake disc locating ring 41 and the electro spindle fixed seat II 11, institute
Brake disc 54 is stated to be fixedly connected with the electro spindle fixed seat II 11；
The axial feeding system 5 includes axial feed device and supporting plate 55, and the case follower 12 passes through the supporting plate
55 are connected with the axial feed device.
The planet gear reducing mechanism includes planetary gear housing 56, positioned at the planet hub of the front end of planetary gear housing 56
Body drive end bearing bracket 57, positioned at the planetary gear housing rear end lid 58 of the rear end of planetary gear housing 56, after the planetary gear housing
Planet carrier support 59 between end cap 58 and the planetary gear housing 56, planet carrier in the planetary gear housing 56 and defeated
Go out shaft supporting frame 60, the planet carrier 61 between planet carrier support 59 and the planet carrier and output shaft supporting frame 60,
Rolled round 62, input shaft 63, sun wheel shaft 64 and are nibbled sun gear 65 in the planet carrier 61 with the sun gear 65
Multiple planetary gears 66 of conjunction, one end of the input shaft 63 is connected by key I 67 with the rolled round 62, and the other end sequentially passes through described
Planetary gear housing rear end lid 58 and the planet carrier are supported 59 and are connected with the sun wheel shaft 64 by gear coupling 68
Connect, the sun wheel shaft 64 is connected by key II 69 with the sun gear 65, the two ends of the planet carrier 61 pass through axle respectively
Hold and be connected with planet carrier support 59 and the planet carrier and output shaft supporting frame 60, the planetary gear 66 passes through planet wheel spindle
70 are connected with the planet carrier 61, and the planetary gear 66 is nibbled with the internal gear 71 being fixed on the inwall of planetary gear housing 56
Close, the planetary gear housing rear end lid 58 is provided with eccentric throw dial 72, the eccentric throw dial 72 is located at the rolled round
Between 62 and the planetary gear housing rear end lid 58, the planet gear reducing mechanism also includes pinion shaft 73, the and of output shaft 74
Gear wheel 75, one end of the pinion shaft 73 is connected by key III 76 with the planet carrier 61, the pinion shaft 73 it is another
One end is provided with little gear 77, and one end of the output shaft 74 is connected by bearing with the planet carrier and output shaft supporting frame 60,
The gear wheel 75 is connected by key IV 78 with the output shaft 74, and is engaged with the little gear 77, the output shaft 74
The other end sequentially passes through positioning sleeve 79 on the planetary gear housing forward end lid 57 and on the housing rear end lid 15
The taper hole shape guide sleeves 16 be connected with the oldham coupling 42, the taper hole shape guide sleeves 16 are socketed in the positioning sleeve
On 79, the taper hole shape guide sleeves 16 are radially provided with holding screw 80.
The axial feed device includes base 81, is fixed on stepper motor 82 and leading screw on the one end of the base 81
83, the output end of the stepper motor 82 is connected by shaft coupling 84 with the leading screw 83, and the leading screw 83 is provided with leading screw spiral shell
Female 85, the feed screw nut 85 is fixedly connected with the supporting plate 55, and axially extending axial guidance is additionally provided with the base 81
86, the supporting plate 55 is connected by sliding block III 87 with the axial guidance 86, and the front end of the base 81 is provided with for the milling cutter
The cutter positioning set 88 that cutter 8 is passed through, the rear end of the base 81 is provided with adpting flange 89.
The hole-through conductive ring 17, the servomotor 26 and the external variable frequency power source of the stepper motor 82.
The guide rail locating ring 29, the gear shaft locating ring 40, the brake disc locating ring 41 and the rigidity strengthen
Track type eccentric orfice is in the ring of ring 23.
The Timing Belt 28 is provided with tensioning wheel 90, and the tensioning wheel 90 passes through tension wheel shaft 91 and the servomotor frame
25 connections, the tension wheel shaft 91 is connected by otic placode 92 with the housing rear end lid 15.
The housing rear end lid 15 is provided with displacement display screen 93.
The pull bar 50 is connected by stop nut 94 with the hollow adjusting bolt 49.
Between the bearing drive end bearing bracket 14 and the revolution barrel forward end lid 19 and the bearing rear end cap 18 and the public affairs
Sealing ring 95 is equipped between rotaring sleeve rear end cap 21.
The slider I 34 is provided with the ball contacted with the line slide rail I 33；The sliding block II 36 be provided with it is described
The ball of the contact of line slide rail II 35.
The rolled round 62 drives the planet gear reducing mechanism, by the oldham coupling 42 and the gear shaft 32 pairs
Connect, and then drive the tooth bar 31 being fixed in the electro spindle fixed seat II 11, so as to realize being revolved by the rolled round 62
Turn to drive the micro linear movement of tooth bar 31 (as shown in figure 3, the axis of the electro spindle 6 is by O1Move to O2), that is, realize institute
State the purpose of the high accuracy eccentric adjusting of electro spindle 6.
As shown in fig. 7, being using planetary reduction gear formula regulation offset helical milling dress in specific embodiment of the invention
Put the workflow diagram for carrying out the preferable case study on implementation of helical milling one.The step of its helical milling, is as follows：
S1, a kind of above-mentioned planetary reduction gear formula regulation offset helical milling device is connected to by the adpting flange 89
Industrial robot is used as end effector；
S2, the positioning sleeve 79 of the planet gear reducing mechanism is positioned at by the taper hole shape guide sleeves 16 it is described
On housing rear end lid 15, and rotating the big belt wheel 24 makes the output shaft 74 pass through the oldham coupling 42 and the gear
Axle 32 is docked, and is rotated the holding screw 80 and is fixed the positioning sleeve 79；
Hollow adjusting bolt 49 described in S3, turn, makes the friction plate 45 be separated with the platen 46；Rotate the rolled round
62, the displacement display screen 93 is observed, adjustment offset to predetermined value, hollow adjusting bolt 49 described in turn makes described rubbing
Pad 45 is contacted with the platen 46 and dismantles down the planet gear reducing mechanism；
When S4, processing, industrial robot carried terminal actuator reaches theoretical machining position with certain attitude；
S5, the startup electro spindle 6 and the servomotor 26, its rotating speed can be adjusted by frequency modulator and controlled, the step
Stepper motor 82 drives the self-rotating system 1 and the revolution system 2 to be moved along the axial guidance 86, makes the milling cutter tool 8
Have what rotation had a revolution again carries out drilling processing along helical trajectory；
S6, the self-rotating system 1 is return along the axial guidance 86 with the revolution system 2, close the servo electricity
Machine 26, the stepper motor 82, the electro spindle 6, industrial robot stop processing.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technology according to the present invention scheme and its
Inventive concept is subject to equivalent or change, should all be included within the scope of the present invention.
Claims (10)
1. a kind of planetary reduction gear formula regulation offset helical milling device, it is characterised in that including self-rotating system, revolution system,
Radial disbalance amount regulating system, clamping brake system components and axial feeding system；
The self-rotating system includes electro spindle, and the front end of the electro spindle is connected by spring cutting ferrule with milling cutter tool, the electricity
The rear end of main shaft is provided with wiring, and the leading portion outer wall of the electro spindle is socketed with electro spindle fixed seat I, outside the stage casing of the electro spindle
Wall is socketed with electro spindle fixed seat II；
The revolution system includes case follower and revolution sleeve, and the front end of the case follower is provided with bearing drive end bearing bracket, described
The rear end of case follower is provided with housing rear end lid, and the housing rear end covers and is provided with taper hole shape guide sleeves and is connected with the wiring
Hole-through conductive ring, bearing rear end cap is provided between the housing rear end lid and the case follower, before the revolution sleeve
End be provided with revolution barrel forward end lid, the revolution barrel forward end cover be provided with the Spring Card set through hole, the revolution set
The outer wall of cylinder drive end bearing bracket is connected by the bearing I that revolves round the sun with the inwall of the case follower, and the bearing drive end bearing bracket is socketed in described
Revolve round the sun on the outer wall of barrel forward end lid and the revolution bearing I is pressed in the case follower and the revolution barrel forward end lid
On, the rear end of the revolution sleeve is provided with revolution sleeve rear end lid, and the revolution sleeve rear end covers and is provided with the wiring and passes through
Hole, the outer wall of the revolution sleeve rear end lid is connected by the bearing II that revolves round the sun with the inwall of the case follower, the bearing
Rear end cap is socketed on the outer wall of the revolution sleeve rear end lid and the revolution bearing II is pressed in into the case follower and institute
State revolution sleeve rear end to cover, the inwall of the corresponding revolution sleeve rear end lid in the electro spindle rear end is provided with rigidity enhancing
Ring, the outer wall of the revolution sleeve rear end lid is provided with big belt wheel, and the outer wall of the case follower is provided with servomotor frame, described to watch
Take motor rack and be provided with servomotor, the output shaft of the servomotor is provided with small pulley, the small pulley is by through institute
The Timing Belt for stating housing rear end lid is connected with the big belt wheel；
The radial disbalance amount regulating system includes the inwall positioned at the corresponding revolution sleeve of the electro spindle fixed seat I
On guide rail locating ring, the guide rail positioning half on the inwall of the corresponding revolution sleeve of the electro spindle fixed seat II
Ring, positioned at the rack and pinion axle of the upper end of electro spindle fixed seat II, the guide rail locating ring is provided with line slide rail I, institute
Slider I of the line slide rail I by being fixed in the electro spindle fixed seat I is stated to be connected with the lower end of the electro spindle fixed seat I,
The guide rail positions semi-ring is provided with line slide rail II, and the line slide rail II is by being fixed in the electro spindle fixed seat II
Sliding block II be connected with the lower end of the electro spindle fixed seat II, the side wall of the guide rail positions semi-ring is provided with displacement transducer,
The sliding block II is provided with sensor connecting plate, and institute's displacement sensors are connected by back-moving spring with the sensor connecting plate
Connect, the bearing of trend of the line slide rail I and the line slide rail II is each perpendicular to the axis of the electro spindle, the guide rail is determined
The gear shaft locating ring being fixedly connected with the inwall of the revolution sleeve is provided with front side of the semi-ring of position, the guide rail positions semi-ring
Rear side is provided with the brake disc locating ring being fixedly connected with the inwall of the revolution sleeve, and one end of the gear shaft is provided with sliding block connection
Axle device, the other end of the gear shaft sequentially passes through the revolution sleeve rear end lid, rigidity enhancing ring, the brake disc to be determined
Position ring is connected with the gear shaft locating ring, and the gear shaft is provided with the gear being connected with the tooth bar, the radial disbalance
Amount regulating system also includes the planet gear reducing mechanism for driving the gear shaft to rotate by the oldham coupling；
The clamping brake system components include terminal pad, friction plate and platen, the terminal pad and the electro spindle fixed seat I
Front end be fixedly connected, the friction plate is fixedly connected with the front end of the terminal pad, the platen by feather key be located at institute
The chute connection on the inwall of revolution barrel forward end lid is stated, the front end of the revolution barrel forward end lid is provided with two hollow adjustment spiral shells
Bar, the hollow adjusting bolt is provided with pull bar, and the other end of the pull bar is provided with position-arresting disk, and the pull bar sequentially passes through described
Revolution barrel forward end lid and the platen, the side that the platen is located at the friction plate are provided with the recessed of the receiving position-arresting disk
Groove, is socketed with spring on the pull bar, the spring be located at the platen and the revolution barrel forward end lid front inner wall it
Between, the brake system components that clamp also include the system being located between the brake disc locating ring and the electro spindle fixed seat II
Moving plate, the brake disc is fixedly connected with the electro spindle fixed seat II；
The axial feeding system includes axial feed device and supporting plate, and the case follower passes through the supporting plate and the axial direction
Feed arrangement is connected.
2. a kind of planetary reduction gear formula according to claim 1 adjusts offset helical milling device, it is characterised in that：It is described
Planet gear reducing mechanism includes planetary gear housing, positioned at the planetary gear housing forward end lid of the planetary gear housing forward end, positioned at institute
State the planetary gear housing rear end lid of planetary gear housing rear end, positioned at the planetary gear housing rear end lid and the planet gear housing it
Between planet carrier support, planet carrier in the planetary gear housing and output shaft supporting frame, positioned at planet carrier support
With the planet carrier between the planet carrier and output shaft supporting frame, rolled round, input shaft, sun wheel shaft, positioned at the planet
Sun gear in frame and the multiple planetary gears engaged with the sun gear, described input shaft one end are connected by key I and the rolled round
Connect, the other end sequentially passes through the planetary gear housing rear end lid and the planet carrier is supported and by gear coupling with it is described too
Positive wheel shaft connection, the sun wheel shaft is connected by key II with the sun gear, and the planet carrier two ends lead to respectively
Cross that bearing is supported with the planet carrier and the planet carrier and output shaft supporting frame be connecteds, the planetary gear by planet wheel spindle and
The planet carrier connection, the planetary gear is engaged with the internal gear being fixed in the planetary gear inner walls, the planetary gear
Housing rear end is covered and is provided with eccentric throw dial, and the eccentric throw dial is located at the rolled round and the planetary gear housing rear end
Between lid, the planet gear reducing mechanism also includes pinion shaft, output shaft and gear wheel, and one end of the pinion shaft passes through
Key III is connected with the planet carrier, and the other end of the pinion shaft is provided with little gear, and one end of the output shaft passes through bearing
It is connected with the planet carrier and output shaft supporting frame, the gear wheel is connected by key IV with the output shaft, and small with described
Gear is engaged, and the other end of the output shaft sequentially passes through the positioning sleeve that is covered positioned at the planetary gear housing forward end and positioned at institute
State the taper hole shape guide sleeves that housing rear end covers to be connected with the oldham coupling, the taper hole shape guide sleeves are socketed in institute
State on positioning sleeve, the taper hole shape guide sleeves are radially provided with holding screw.
3. a kind of planetary reduction gear formula according to claim 1 adjusts offset helical milling device, it is characterised in that：It is described
Axial feed device includes base, is fixed on stepper motor and leading screw on described base one end, the stepper motor it is defeated
Go out end to be connected with the leading screw by shaft coupling, the leading screw is provided with feed screw nut, the feed screw nut is solid with the supporting plate
Fixed connection, is additionally provided with axially extending axial guidance on the base, the supporting plate is connected by sliding block III with the axial guidance
Connect, the pan frontward end is provided with the cutter positioning passed through for the milling cutter tool and covers, and the base rear end is provided with adpting flange.
4. a kind of planetary reduction gear formula according to claim 3 adjusts offset helical milling device, it is characterised in that：It is described
Hole-through conductive ring, the servomotor and the external variable frequency power source of the stepper motor.
5. a kind of planetary reduction gear formula according to claim 1 adjusts offset helical milling device, it is characterised in that：It is described
Track type is in the ring of guide rail locating ring, the gear shaft locating ring, the brake disc locating ring and rigidity enhancing ring
Eccentric orfice.
6. a kind of planetary reduction gear formula according to claim 1 adjusts offset helical milling device, it is characterised in that：It is described
Timing Belt is provided with tensioning wheel, and the tensioning wheel is connected by tension wheel shaft with the servomotor frame, and the tension wheel shaft leads to
Otic placode is crossed to be connected with the housing rear end lid.
7. a kind of planetary reduction gear formula according to claim 1 adjusts offset helical milling device, it is characterised in that：It is described
Housing rear end is covered and is provided with displacement display screen.
8. a kind of planetary reduction gear formula according to claim 1 adjusts offset helical milling device, it is characterised in that：It is described
Pull bar is connected by stop nut with the hollow adjusting bolt.
9. a kind of planetary reduction gear formula according to claim 1 adjusts offset helical milling device, it is characterised in that：It is described
Between bearing drive end bearing bracket and the revolution barrel forward end lid and the bearing rear end cap and the revolution sleeve rear end lid between
It is provided with sealing ring.
10. a kind of planetary reduction gear formula according to claim 1 adjusts offset helical milling device, it is characterised in that：Institute
State slider I and be provided with the ball contacted with the line slide rail I；The sliding block II is provided with what is contacted with the line slide rail II
Ball.
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| CN201710103306.3A CN106670553B (en) | 2017-02-24 | 2017-02-24 | Planetary reduction gear formula adjusts eccentricity helical milling device |
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| CN201710103306.3A CN106670553B (en) | 2017-02-24 | 2017-02-24 | Planetary reduction gear formula adjusts eccentricity helical milling device |
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| CN107984015A (en) * | 2018-01-10 | 2018-05-04 | 东北大学 | A kind of helical milling device for composite material |
| CN108655474A (en) * | 2018-05-06 | 2018-10-16 | 杨秀波 | A kind of automatic milling device of bicycle drive shaft |
| CN108789127A (en) * | 2018-06-26 | 2018-11-13 | 陈芮 | A kind of adjustable circular hole grinding device of machine-building |
| CN108927557A (en) * | 2018-08-17 | 2018-12-04 | 西安增材制造国家研究院有限公司 | A kind of helical milling device and method |
| CN109262307A (en) * | 2018-11-14 | 2019-01-25 | 常州机电职业技术学院 | A kind of adjustable eccentric wheel assembly of eccentricity |
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| CN107984015A (en) * | 2018-01-10 | 2018-05-04 | 东北大学 | A kind of helical milling device for composite material |
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| CN108789127A (en) * | 2018-06-26 | 2018-11-13 | 陈芮 | A kind of adjustable circular hole grinding device of machine-building |
| CN108927557A (en) * | 2018-08-17 | 2018-12-04 | 西安增材制造国家研究院有限公司 | A kind of helical milling device and method |
| CN108927557B (en) * | 2018-08-17 | 2024-02-13 | 西安增材制造国家研究院有限公司 | Spiral hole milling device and method |
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| CN110587310A (en) * | 2019-09-12 | 2019-12-20 | 广东顺的精密数控设备有限公司 | Five numerical control PCD cutter machine tools |
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| CN111482640A (en) * | 2020-04-20 | 2020-08-04 | 大连理工大学 | Portable spiral hole milling unit for large-diameter intersection holes |
| CN111482640B (en) * | 2020-04-20 | 2021-09-28 | 大连理工大学 | Portable spiral hole milling unit for large-diameter intersection holes |
| CN111604527A (en) * | 2020-04-30 | 2020-09-01 | 沈阳工业大学 | End executing device for spiral hole milling |
| CN111604527B (en) * | 2020-04-30 | 2022-07-15 | 沈阳工业大学 | End executing device for spiral hole milling |
| CN113070686A (en) * | 2021-02-26 | 2021-07-06 | 南京晓庄学院 | Off-line adjusting method for tool eccentricity based on robot spiral hole milling platform |
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| CN113172479A (en) * | 2021-03-25 | 2021-07-27 | 南京晓庄学院 | Compensation device and method for hole diameter error of spiral milling of self-adaptive robot |
| CN113172477A (en) * | 2021-03-25 | 2021-07-27 | 南京晓庄学院 | Online measuring and controlling device and method for eccentricity of robot spiral hole milling cutter |
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| CN114871825A (en) * | 2022-06-21 | 2022-08-09 | 哈尔滨理工大学 | Adjusting device of eccentric sleeve type spiral hole making equipment |
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