CN106735389A - Improve the equipment and its boring method of high speed parallel robot slave arm borehole accuracy - Google Patents
Improve the equipment and its boring method of high speed parallel robot slave arm borehole accuracy Download PDFInfo
- Publication number
- CN106735389A CN106735389A CN201710011371.3A CN201710011371A CN106735389A CN 106735389 A CN106735389 A CN 106735389A CN 201710011371 A CN201710011371 A CN 201710011371A CN 106735389 A CN106735389 A CN 106735389A
- Authority
- CN
- China
- Prior art keywords
- die shoe
- upper bolster
- armed lever
- sleeper
- slave arm
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B35/00—Methods for boring or drilling, or for working essentially requiring the use of boring or drilling machines; Use of auxiliary equipment in connection with such methods
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B47/00—Constructional features of components specially designed for boring or drilling machines; Accessories therefor
- B23B47/28—Drill jigs for workpieces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D75/00—Reaming machines or reaming devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B2220/00—Details of turning, boring or drilling processes
- B23B2220/24—Finishing
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Drilling And Boring (AREA)
- Earth Drilling (AREA)
Abstract
Equipment and its boring method the present invention relates to improve high speed parallel robot slave arm borehole accuracy, upper bolster, the drill bushing on upper bolster on die shoe are arranged on including die shoe, by holding screw, spring secures rail to sleeper, positioning sleeve are also equipped with the die shoe.Location hole is provided with the die shoe, on upper bolster, the die shoe, upper bolster are provided with V-shaped groove in the horizontal direction.The present invention has following three big advantages：1) high precision of slave arm punching, while reducing the percent defective of slave arm punching；2) simple structure, it is easy to operate；3) after slave arm punching, the uniformity of fraising is preferable.
Description
Technical field
The present invention relates to a kind of through hole machining technology field, high speed parallel robot slave arm is specifically improved
The equipment and its boring method of borehole accuracy.
Background technology
With the fast development of high speed parallel robot, slave arm is used as a main group in high speed parallel robot
Part, its borehole accuracy is related to the quality of fit with joint pin, the parallelogram connection-rod machine for making it to form a standard
Structure, so as to influence the running precision of parallel robot.
Because ball bowl mesopore is pre-drilled basic hole in driven arm component, during driven armed lever is assembled, ball
After bowl and carbon fiber bar viscose glue, a non through hole is formd.Joint pin is installed, just must be on the basis of the hole in carbon fiber
The suitable through hole in an aperture is bored on bar.
At present, the drilling of slave arm there is no a set of rational method to ensure the axiality of prebored hole and basic hole.
The content of the invention
In order to solve slave arm in some problems present on borehole accuracy, the invention provides a set of simple structure, determine
Position borehole accuracy drilling method high, simple to operate, that is, improve high speed parallel robot slave arm borehole accuracy equipment and its
Boring method.
The technical problems to be solved by the invention are realized using following technical scheme：
The equipment of high speed parallel robot slave arm borehole accuracy is improved, including die shoe, is arranged on by holding screw
Upper bolster on die shoe, the drill bushing on upper bolster, are also equipped with spring secures rail to sleeper, positioning sleeve on the die shoe.
Location hole is provided with the die shoe, on upper bolster, the die shoe, upper bolster are provided with V in the horizontal direction
Shape groove.
Improve the boring method of the equipment of high speed parallel robot slave arm borehole accuracy, including following steps：
S1：Positioning sleeve is arranged in the location hole of die shoe by interference fit；
S2：Fastener corresponding to guide rod and guide rod, drill bushing are arranged on the location hole of upper bolster by interference fit
In；
S3：Die shoe is fixed on bench drill platform, the position of upper bolster is finely tuned, until fixed in drill bushing center, die shoe
Drill bushing center is conllinear in Wei Tao centers, upper bolster, then fixes upper bolster；
S4：By in spring secures rail to sleeper insertion positioning sleeve, driven armed lever is placed on the V-shaped groove of die shoe and the V-arrangement of upper bolster
Region between groove, then adjusts the position of driven armed lever, and driven armed lever is made up of ball bowl, carbon fiber bar viscose glue, the ball
Basic hole is provided with bowl, the shaft end and a basic hole on driven armed lever for making spring secures rail to sleeper coordinate, and make the shaft end of spring secures rail to sleeper
It is coaxial with basic hole on driven armed lever；
S5：Holding screw is tightened, makes the cylindrical surface adhesive of upper bolster, the V-groove of both die shoes and driven armed lever, realized
Driven armed lever is fixed；
S6：The button of spring secures rail to sleeper is unclamped, spring secures rail to sleeper is pulled up；
S7：Processed by bit bore；
S8：Reamer is changed, is reamed；
S9：Release holding screw, the driven armed lever of movement, by driven armed lever, another basic hole is matched somebody with somebody with the shaft end of spring secures rail to sleeper
Close, the step of then repeat above-mentioned S5 to S9, you can complete two drillings in basic hole, fraisings on driven armed lever.
The beneficial effects of the invention are as follows：
The present invention has following three big advantages：
1) high precision of slave arm punching, while reducing the percent defective of slave arm punching；
2) simple structure, low cost of manufacture is easy to operate；
3) after slave arm punching, the uniformity of fraising is preferable.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structure chart of driven armed lever；
Fig. 2 is slave arm bar drill hole tool configuration schematic diagram；
Internal structure schematic diagram when Fig. 3 is present invention work.
In figure：1. ball bowl, 2. carbon fiber bar, 3. spring secures rail to sleeper, 4. positioning sleeve, 5. die shoe, 6. upper bolster, 7. clamp screw
Follow closely, 8. guide rod, 9. drill bushing, 10. drill bit.
Specific embodiment
In order that the technological means realized of the present invention, creation characteristic, reached purpose and effect are easy to understand, below it is right
The present invention is expanded on further.
As shown in Figure 1 to Figure 3, the equipment for improving high speed parallel robot slave arm borehole accuracy, including die shoe (5),
By upper bolster (6) of the holding screw (7) on die shoe (5), the drill bushing (9) on upper bolster (6), it is described under
Spring secures rail to sleeper (3), positioning sleeve (4) are also equipped with die holder (5).
Location hole, the die shoe (5), upper bolster (6) Jun Yanshui are provided with the die shoe (5), on upper bolster (6)
Square to being provided with V-shaped groove.
Wherein, the basic hole on ball bowl 1 is two, and two basic holes have been held successfully in advance, in the assembling of driven armed lever
During, after ball bowl 1 and the viscose glue of carbon fiber bar 2, form a non through hole.Joint pin is installed, just must be in the hole
On the basis of the suitable through hole in an aperture is bored on carbon fiber bar.
Improve the boring method of the equipment of high speed parallel robot slave arm borehole accuracy, including following steps：
S1：Positioning sleeve 4 is arranged in the location hole of die shoe 5 by interference fit.
S2：Fastener corresponding to guide rod 8 and guide rod 8, drill bushing 9 are arranged on determining for upper bolster 6 by interference fit
In the hole of position.
S3：Die shoe 5 is fixed on bench drill platform, the position of upper bolster 6 is finely tuned, until the center of drill bushing 9, die shoe 5
The center of drill bushing 9 is conllinear in the center of middle positioning sleeve 4, upper bolster 6, then fixes upper bolster 6.
S4：During spring secures rail to sleeper 3 inserted into positioning sleeve 4, driven armed lever 11 is placed on the V-shaped groove and upper bolster 6 of die shoe 5
V-shaped groove between region, then adjust the position of driven armed lever 11, make on the shaft end of spring secures rail to sleeper 3 and driven armed lever 11
One basic hole coordinates, and makes the shaft end of spring secures rail to sleeper 3 coaxial with basic hole on driven armed lever 11.
S5：Holding screw 7 is tightened, upper bolster 6, the V-groove of both die shoes 5 is pasted with the face of cylinder of driven armed lever 11
Close, driven armed lever 11 is fixed in realization.
S6：The button of spring secures rail to sleeper 3 is unclamped, spring secures rail to sleeper 3 is pulled up.At this moment, you can ensure the center of drill bit 10 and slave arm
Basic hole center on bar 11 is conllinear.
S7：By the Drilling operation of drill bit 10.
S8：After the completion of one end drills, reamer only need to be changed, be reamed.
S9：Unclamp holding screw 7, the driven armed lever 11 of movement, by another the basic hole of driven armed lever 11 and spring secures rail to sleeper 3
Shaft end coordinates, the step of then repeat above-mentioned S5 to S9, you can complete two drillings in basic hole, hinges on driven armed lever 11
Hole.
General principle of the invention, principal character and advantages of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not limited to the above embodiments, the simply present invention described in above-described embodiment and specification
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement is both fallen within claimed invention.The claimed scope of the invention is by appending claims and its equivalent circle.
It is fixed.
Claims (3)
1. the equipment for improving high speed parallel robot slave arm borehole accuracy, it is characterised in that：Including die shoe (5), by tight
Determine upper bolster (6) of the screw (7) on die shoe (5), the drill bushing (9) on upper bolster (6), the die shoe
(5) spring secures rail to sleeper (3), positioning sleeve (4) are also equipped with.
2. the equipment for improving high speed parallel robot slave arm borehole accuracy, it is characterised in that：On the die shoe (5), upper mould
Location hole is provided with seat (6), the die shoe (5), upper bolster (6) are provided with V-shaped groove in the horizontal direction.
3. the boring method of the equipment of high speed parallel robot slave arm borehole accuracy is improved, it is characterised in that：Including following several
Individual step：
S1：Positioning sleeve (4) is arranged in the location hole of die shoe (5) by interference fit；
S2：Fastener corresponding to guide rod (8) and guide rod (8), drill bushing (9) are arranged on upper bolster (6) by interference fit
Location hole in；
S3：Die shoe (5) is fixed on bench drill platform, the position of fine setting upper bolster (6), until drill bushing (9) center, die shoe
(5) drill bushing (9) center is conllinear in positioning sleeve (4) center, upper bolster (6) in, then fixes upper bolster (6)；
S4：During spring secures rail to sleeper (3) inserted into positioning sleeve (4), by driven armed lever (11) be placed on the V-shaped groove of die shoe (5) with it is upper
Region between the V-shaped groove of die holder (6), then adjusts the position of driven armed lever (11), and driven armed lever (11) is by ball bowl (1), carbon
Fiber rod (2) viscose glue is constituted, and basic hole is provided with ball bowl (1), makes the shaft end of spring secures rail to sleeper (3) and driven armed lever (11)
On a basic hole coordinate, make the shaft end of spring secures rail to sleeper (3) coaxial with basic hole on driven armed lever (11)；
S5：Holding screw (7) is tightened, makes the face of cylinder of upper bolster (6), die shoe (5) V-groove of the two and driven armed lever (11)
Laminating, realizes driven armed lever (11) is fixed；
S6：The button of spring secures rail to sleeper (3) is unclamped, spring secures rail to sleeper (3) is pulled up；
S7：By drill bit (10) Drilling operation；
S8：Reamer is changed, is reamed；
S9：Unclamp holding screw (7), the driven armed lever (11) of movement, by another basic hole of driven armed lever (11) and spring secures rail to sleeper
(3) shaft end coordinates, the step of then repeat above-mentioned S5 to S9, you can complete two brills in basic hole on driven armed lever (11)
Hole, fraising.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710011371.3A CN106735389B (en) | 2017-01-06 | 2017-01-06 | Improve the equipment and its boring method of high speed parallel robot slave arm borehole accuracy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710011371.3A CN106735389B (en) | 2017-01-06 | 2017-01-06 | Improve the equipment and its boring method of high speed parallel robot slave arm borehole accuracy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106735389A true CN106735389A (en) | 2017-05-31 |
| CN106735389B CN106735389B (en) | 2019-03-08 |
Family
ID=58950295
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710011371.3A Active CN106735389B (en) | 2017-01-06 | 2017-01-06 | Improve the equipment and its boring method of high speed parallel robot slave arm borehole accuracy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106735389B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6114813A (en) * | 1984-06-30 | 1986-01-23 | Hiromitsu Utsunomiya | Drilling method and its device of slit in plastic drainage pipe |
| CN102528110A (en) * | 2011-07-01 | 2012-07-04 | 武汉重工铸锻有限责任公司 | Method for machining central oil hole of main journal of crank of medium-speed engine |
| CN202963553U (en) * | 2012-11-09 | 2013-06-05 | 天津建筑机械厂 | Tool for guaranteeing location degree of trolley frame hole |
| CN203330457U (en) * | 2013-06-08 | 2013-12-11 | 北京奥科瑞丰新能源股份有限公司生物质能研究院 | Die used for drilling holes |
| CN103752902A (en) * | 2014-01-02 | 2014-04-30 | 安徽安凯汽车股份有限公司 | Passenger car armrest perforating and positioning tooling |
| CN204295010U (en) * | 2014-11-28 | 2015-04-29 | 天津安顺成金属制品有限公司 | A kind of quick-clamping clamping fixture for drilling for processing round steel side opening |
-
2017
- 2017-01-06 CN CN201710011371.3A patent/CN106735389B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6114813A (en) * | 1984-06-30 | 1986-01-23 | Hiromitsu Utsunomiya | Drilling method and its device of slit in plastic drainage pipe |
| CN102528110A (en) * | 2011-07-01 | 2012-07-04 | 武汉重工铸锻有限责任公司 | Method for machining central oil hole of main journal of crank of medium-speed engine |
| CN202963553U (en) * | 2012-11-09 | 2013-06-05 | 天津建筑机械厂 | Tool for guaranteeing location degree of trolley frame hole |
| CN203330457U (en) * | 2013-06-08 | 2013-12-11 | 北京奥科瑞丰新能源股份有限公司生物质能研究院 | Die used for drilling holes |
| CN103752902A (en) * | 2014-01-02 | 2014-04-30 | 安徽安凯汽车股份有限公司 | Passenger car armrest perforating and positioning tooling |
| CN204295010U (en) * | 2014-11-28 | 2015-04-29 | 天津安顺成金属制品有限公司 | A kind of quick-clamping clamping fixture for drilling for processing round steel side opening |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106735389B (en) | 2019-03-08 |
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