CN107081672A - A kind of parallel lapping device - Google Patents
A kind of parallel lapping device Download PDFInfo
- Publication number
- CN107081672A CN107081672A CN201710496461.6A CN201710496461A CN107081672A CN 107081672 A CN107081672 A CN 107081672A CN 201710496461 A CN201710496461 A CN 201710496461A CN 107081672 A CN107081672 A CN 107081672A
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- Prior art keywords
- leading screw
- bearing
- engaged
- rotating shaft
- straight line
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B37/00—Lapping machines or devices; Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B37/00—Lapping machines or devices; Accessories
- B24B37/27—Work carriers
- B24B37/30—Work carriers for single side lapping of plane surfaces
- B24B37/32—Retaining rings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A kind of parallel lapping device, lapping device of the present invention, it is adaptable to which the occasion along some course bearing attrition process is carried out to part.The lapping device includes：Frame, first to fourth linear motion component, rotational motion component, emery wheel mechanism assembly.First to fourth linear motion pedestal of first to fourth described linear motion component is respectively fixedly connected with four grooves in frame by screw.First straight line moving parts and second straight line moving parts are engaged with the electric machine rotational axis in rotational motion component respectively by the hole in two component connecting rods.The connected mode of 3rd linear motion component and the 4th linear motion component is similar with first straight line moving parts and second straight line moving parts.First bearing seat and second bearing seat in emery wheel mechanism assembly are fixedly connected with the guide rail platform in rotational motion component respectively.Adjusting apparatus position and posture are driven by first to fourth motor, rotary electric machine, grinding wheel drive mitor driving emery wheel is ground.
Description
Technical field
The present invention relates to a kind of parallel lapping device, it is adaptable to specific part is carried out to grind along some course bearing
The occasion of processing.
Background technology
Attrition process is one of precision machining method of precision component, while being also a kind of Grinding Technology.It is profit
With free abrasive particle and lap tool, workpiece surface trace meter is removed, workpiece is reached predetermined high geometric accuracy and minimum table
(dimensional accuracy is up to 0.025 μm for surface roughness value.Surface roughness value RaUp to 0.01 μm).It has following features：
(1) attrition process be with minute abrasive and grinding agent between workpiece and lap tool, ceaselessly, without it is mandatory guiding,
Choppy rotation and relative slip, formation are slightly cut workpiece surface, so can reach high accuracy, including
Size, form accuracy and a part of relative positional accuracy.
(2) grinding technology is typically carried out in low speed, lower pressure.Cutting heat is small, temperature is low.Workpiece surface metamorphic layer
It is thin, only remove trace meter surface.So workpiece surface is bright and clean, equal to plasticity, fragile material in compression without micro-flaw
High accuracy, high plane quality mirror finish can be achieved.
(3) grinding technology does not make excessive demands equipment precision condition and complicated process equipment, can all realize workpiece and lap tool
Between relative motion.It is not only applicable to manual production.And be also suitable and produce by batch.It is also applied for machine-building simultaneously
Industry and general machine maintenance work.It is easier to realize automation and CNC processing.
(4) grinding technique is applied to metal material, process for un-metal material, and can grind the work on any shape surface
Part therefore it be one of most widely used precision machining method.
The motion platform that current grinder robot is used mainly has tandem and parallel.Novel tandem-type grinder device people's
Working space is big but the problem of there is poor rigidity, parallel grinder robot rigidity is high compared with tandem.When grinder robot along
In a certain particular track motion process, Novel tandem-type grinder device people is due to the influence of the factors such as poor rigidity, it is more difficult to realize high accuracy
Grinding work.
The content of the invention
The problem to be solved in the present invention is to provide a kind of parallel lapping device, not only met lapping device rigidity requirement but also
The high accuracy of grinding work can be ensured.
The present invention solve its technical problem use technical scheme be：
A kind of parallel lapping device, the lapping device includes：Frame, first to fourth linear motion component rotates fortune
Dynamic component, emery wheel mechanism assembly.
First to fourth linear motion pedestal of first to fourth described linear motion component is fixed respectively by screw
It is connected in four grooves in frame.
First straight line moving parts and second straight line moving parts respectively and are rotated by the hole in two component connecting rods
Electric machine rotational axis in moving parts is engaged.3rd linear motion component and the 4th linear motion component are connected by two components
Hole on extension bar is engaged with the non-electric machine rotational axis in rotational motion component respectively.
Motor rotation axis and the connection in first straight line moving parts and second straight line moving parts in rotational motion component
Bar is coordinated by electric machine rotational axis bearing respectively；Non- electric machine rotational axis and the 3rd linear motion group in rotational motion component
Connecting rod in part and the 4th linear motion component is coordinated by electric machine rotational axis bearing respectively.
First bearing seat and second bearing seat in emery wheel mechanism assembly respectively with the guide rail platform in rotational motion component
It is fixedly connected.
First straight line moving parts by the first motor, first straight line moving base, first shaft coupling, the first leading screw, two
First feed rod (the first feed rod 1, the first feed rod 2), first straight line movement sliding block, the first leading screw bearing, the first leading screw fixed block, two
Individual first rotating shaft bearing seat (the first rotating shaft bearing the 1, first rotating shaft bearing of seat seat 2), two the first rotating shaft bearings (the
One rotating shaft bearing 1, the first rotating shaft bearing 2), the first rotary shaft and head rod composition.First straight line moving base leads to
Screw is crossed to be fixedly connected in the first groove of frame.First motor is bolted on carrying for first straight line moving base
The end of shaft coupling recess.First shaft coupling is fixed with the first motor by trip bolt, the output with the first motor
Axle is coordinated.First leading screw fixed block is fixed by screws in end of the first straight line moving base without shaft coupling recess
Place.First leading screw bearing is located at the leading screw bearing hole of the first leading screw fixed block.First leading screw one end through shaft coupling recess with
First shaft coupling is engaged, and the other end is engaged with the first leading screw bearing at the first leading screw fixed block.Two the first feed rod light
Thick stick is located at the first leading screw both sides respectively, and one end is engaged one end with first straight line moving base and coordinated with the first leading screw fixed block.
First straight line movement sliding block is engaged with the first leading screw, while being engaged with two the first feed rods.Two the first rotating shaft bearings
Seat is fixedly connected with first straight line movement sliding block, and two the first rotating shaft bearings are separately mounted to two the first rotating shaft bearing seats
In.First rotating shaft terminal is engaged with two the first rotating shaft bearings respectively, and nearer with the isolated edge of head rod
Hole coordinate.
Second straight line moving parts by the second motor, second straight line moving base, second shaft coupling, the second leading screw, two
Second feed rod (the second feed rod 1, the second feed rod 2), second straight line movement sliding block, the second leading screw bearing, the second leading screw fixed block, two
Individual second rotating shaft bearing seat (the second rotating shaft bearing the 1, second rotating shaft bearing of seat seat 2), two the second rotating shaft bearings (the
Two rotating shaft bearings 1, the second rotating shaft bearing 2), the second rotary shaft and the second connecting rod composition.Second straight line moving base leads to
Screw is crossed to be fixedly connected in the second groove of frame.Second motor is bolted on carrying for second straight line moving base
The end of shaft coupling recess.Second shaft coupling is fixed with the second motor by trip bolt, the output with the second motor
Axle is coordinated.Second leading screw fixed block is fixed by screws in end of the second straight line moving base without shaft coupling recess
Place.Second leading screw bearing is located at the leading screw bearing hole of the second leading screw fixed block.Second leading screw one end through shaft coupling recess with
Second shaft coupling is engaged, and the other end is engaged with the second leading screw bearing at the second leading screw fixed block.Two the second feed rod light
Thick stick is located at the second leading screw both sides respectively, and one end is engaged one end with second straight line moving base and coordinated with the second leading screw fixed block.
Second straight line movement sliding block is engaged with the second leading screw, while being engaged with two the second feed rods.Two the second rotating shaft bearings
Seat is fixedly connected with second straight line movement sliding block, and two the second rotating shaft bearings are separately mounted to two the second rotating shaft bearing seats
In.Second rotating shaft terminal is engaged with two the second rotating shaft bearings respectively, and is coordinated with the hole of the second connecting rod.
3rd linear motion component by the 3rd motor, the 3rd linear motion pedestal, the 3rd shaft coupling, the 3rd leading screw, two
3rd feed rod (the 3rd feed rod 1, the 3rd feed rod 2), the 3rd rectilinear movement sliding block, the 3rd leading screw bearing, the 3rd leading screw fixed block, two
Individual 3rd rotating shaft bearing seat (the 3rd rotating shaft bearing the 1, the 3rd rotating shaft bearing of seat seat 2), two the 3rd rotating shaft bearings (the
Three rotating shaft bearings 1, the 3rd rotating shaft bearing 2), the 3rd rotary shaft and the 3rd connecting rod composition.3rd linear motion pedestal leads to
Screw is crossed to be fixedly connected in the 3rd groove of frame.3rd motor is bolted on carrying for the 3rd linear motion pedestal
The end of shaft coupling recess.3rd shaft coupling is fixed with the 3rd motor by trip bolt, the output with the 3rd motor
Axle is coordinated.3rd leading screw fixed block is fixed by screws in end of the 3rd linear motion pedestal without shaft coupling recess
Place.3rd leading screw bearing is located at the leading screw bearing hole of the 3rd leading screw fixed block.3rd leading screw one end through shaft coupling recess with
3rd shaft coupling is engaged, and the other end is engaged with the 3rd leading screw bearing at the 3rd leading screw fixed block.Two the 3rd feed rod light
Thick stick is located at the 3rd leading screw both sides respectively, and one end is engaged one end with the 3rd linear motion pedestal and coordinated with the 3rd leading screw fixed block.
3rd rectilinear movement sliding block is engaged with the 3rd leading screw, while being engaged with two the 3rd feed rods.Two the 3rd rotating shaft bearings
Seat is fixedly connected with the 3rd rectilinear movement sliding block, and two the 3rd rotating shaft bearings are separately mounted to two the 3rd rotating shaft bearing seats
In.3rd rotating shaft terminal is engaged with two the 3rd rotating shaft bearings respectively, and is coordinated with the hole of the 3rd connecting rod.
4th linear motion component by the 4th motor, the 4th linear motion pedestal, the 4th shaft coupling, the 4th leading screw, two
4th feed rod (the 4th feed rod 1, the 4th feed rod 2), the 4th rectilinear movement sliding block, the 4th leading screw bearing, the 4th leading screw fixed block, two
Individual 4th rotating shaft bearing seat (the 4th rotating shaft bearing the 1, the 4th rotating shaft bearing of seat seat 2), two the 4th rotating shaft bearings (the
Four rotating shaft bearings 1, the 4th rotating shaft bearing 2), the 4th rotary shaft and the 4th connecting rod composition.4th linear motion pedestal leads to
Screw is crossed to be fixedly connected in the 4th groove of frame.4th motor is bolted on carrying for the 4th linear motion pedestal
The end of shaft coupling recess.4th shaft coupling is fixed with the 4th motor by trip bolt, the output with the 4th motor
Axle is coordinated.4th leading screw fixed block is fixed by screws in end of the 4th linear motion pedestal without shaft coupling recess
Place.4th leading screw bearing is located at the leading screw bearing hole of the 4th leading screw fixed block.4th leading screw one end through shaft coupling recess with
4th shaft coupling is engaged, and the other end is engaged with the 4th leading screw bearing at the 4th leading screw fixed block.Two the 4th feed rod light
Thick stick is located at the 4th leading screw both sides respectively, and one end is engaged one end with the 4th linear motion pedestal and coordinated with the 4th leading screw fixed block.
4th rectilinear movement sliding block is engaged with the 4th leading screw, while being engaged with two the 4th feed rods.Two the 4th rotating shaft bearings
Seat is fixedly connected with the 4th rectilinear movement sliding block, and two the 4th rotating shaft bearings are separately mounted to two the 4th rotating shaft bearing seats
In.4th rotating shaft terminal is engaged with two the 4th rotating shaft bearings respectively, and nearer with the isolated edge of the 4th connecting rod
Hole coordinate.
In frame, the first groove and the 4th groove parallel arrangement, the first groove and the second texturearunaperpendicular are arranged, and first
Groove and the second groove are located at the homonymy of frame.Second groove and the 3rd groove parallel arrangement, the 3rd groove and the 4th groove hang down
Straight arrangement, and the 3rd groove and the 4th groove are located at the homonymy of frame.
Rotational motion component is revolved by rotary electric machine, rotary electric machine seat, rotary electric machine shaft coupling, electric machine rotational axis, non-motor
Four electric machine rotational axis bearings of rotating shaft (electric machine rotational axis bearing 1, electric machine rotational axis bearing 2, electric machine rotational axis bearing 3, motor rotation
Shaft bearing 4), four U-shaped links (U-shaped link 1, U-shaped link 2, U-shaped link 3, U-shaped link 4), eight ten thousand
To bearings (universal joint bearing 1, universal joint bearing 2, universal joint bearing 3, universal joint bearing 4, universal joint bearing 5, cardan axis
Hold 6, universal joint bearing 7, universal joint bearing 8), eight universal joint bearing caps (universal joint bearing cap 1, cardan axis socket ends
Lid 2, universal joint bearing cap 3, universal joint bearing cap 4, universal joint bearing cap 5, universal joint bearing cap 6, cardan axis
Socket end lid 7, universal joint bearing cap 8), two cross bars (cross bar 1, cross bar 2), Slider platform, sliding block, guide rails
With guide rail platform composition.Rotary electric machine seat is fixedly connected with head rod, and rotary electric machine is fixed on rotary electric machine seat.Four
Electric machine rotational axis bearing coordinates with the hole of first to fourth connecting rod respectively.The output end of electric rotating machine and rotary electric machine shaft coupling
Coordinate, and electric machine rotational axis do not polish one end and rotary electric machine shaft coupling coordinate, through two electric machine rotational axis bearings, with U
Type link 1 is fixedly connected.Two universal joint bearings are respectively arranged with each U-shaped link, and equipped with two universal joint bearings
End cap.Inner ring of a pair of the relative two ends of cross bar 1 respectively with two universal joint bearings in U-shaped link 1 is engaged,
Inner ring of the relative two ends of another pair respectively with two universal joint bearings in U-shaped link 2 is engaged.U-shaped link 2 is with sliding
Block platform is fixedly connected.Sliding block is fixed on Slider platform, and sliding block is engaged with guide rail, and guide rail is fixed on guide rail platform.Lead
The first bearing seat and second bearing seat of grinding wheel movement component are fixedly connected with rail platform.It is fixed in the opposite side of guide rail platform
Connect U-shaped link 3.U-shaped link 3 and U-shaped link 4 and cross bar 2, universal joint bearing 5 to universal joint bearing 8,
Universal joint bearing cap 5 is to connected mode and the U-shaped link 2 of universal joint bearing cap 8 and the connected mode of U-shaped link 1
It is similar and symmetrical.U-shaped link 4 is fixedly connected with the end that polishes of non-electric machine rotational axis, is connected through with the 3rd connecting rod and the 4th
Two rotating shaft bearings (rotating shaft bearing 3, rotating shaft bearing 4) that extension bar coordinates.
Grinding wheel movement component is by first bearing seat, second bearing seat, clutch shaft bearing, second bearing, emery wheel rotary shaft, sand
Wheel, emery wheel rotary shaft sleeve, grinding wheel drive mitor seat, grinding wheel drive mitor shaft coupling and grinding wheel drive mitor composition.First bearing seat and the second axle
Bearing is fixed on guide rail platform.Clutch shaft bearing, second bearing are engaged with first bearing seat, second bearing seat respectively.Emery wheel
Rotary shaft sequentially passes through clutch shaft bearing, emery wheel, emery wheel rotary shaft sleeve, second bearing, and last and grinding wheel drive mitor shaft coupling matches
Close.Grinding wheel drive mitor seat is fixedly connected with second bearing seat, and is fixedly connected with grinding wheel drive mitor.The output shaft and sand of grinding wheel drive mitor
Turbin generator shaft coupling is engaged.
The present invention is had the advantage that：
It can realize what is worked along certain track there is provided a kind of using the big rigidity of parallel institution and the high property of kinematic accuracy
Parallel lapping device.The device can not only realize multiple frees degree motion in space, and can utilize parallel institution
Architectural characteristic, improve the bearing capacity of guide rail platform, meet the requirement of big rigidity.Power is transmitted using helical guideway,
The gyration of motor is converted into translational motion of the sliding block relative to guide rail bracket, power is provided for grinder robot.This dress
Put the requirement that can not only meet grinding machine National People's Congress rigidity but also high-precision motion can be realized, be a kind of new parallel grinding
Robot.Brief description of the drawings：
Fig. 1 is a kind of parallel lapping device structural representation；
Fig. 2 is first straight line moving parts exploded perspective view；
Fig. 3 is rotational motion modular construction schematic diagram；
Fig. 4 is grinding wheel movement modular construction schematic diagram；
Fig. 5 is the universal joint exploded perspective view in rotational motion component；
Fig. 6 is second straight line moving parts schematic diagram；
Fig. 7 is the 3rd linear motion component schematic diagram；
Fig. 8 is the 4th linear motion component schematic diagram；
Fig. 9 is Fig. 2 A1-A1 profiles；
Figure 10 is Fig. 3 A2-A2 profiles；
Figure 11 is Fig. 5 B1-B1 profiles；
Figure 12 is Fig. 5 B2-B2 profiles；
Figure 13 is Fig. 4 C1-C1 profiles；
Figure 14 is rack construction schematic diagram；
Figure 15 is first straight line moving base structural representation；
Figure 16 is that first straight line moves slide block structure schematic diagram；
Figure 17 is the first leading screw fixed-block-architecture (FBA) schematic diagram；
Figure 18 is U-shaped link structural representation；
Figure 19 is cross bar structural representation；
Figure 20 is universal joint bearing cap structural representation；
Figure 21 is head rod structural representation；
Figure 22 is the first rotating shaft bearing holder structure schematic diagram；
Figure 23 is Slider platform structural representation；
Figure 24 is guide rail platform structure schematic diagram；
Figure 25 is rotary electric machine holder structure schematic diagram；
Figure 26 is first bearing seat structural representation；
Figure 27 is second bearing seat structural representation；
In figure：Frame 1, first to fourth linear motion component 2,3,4,5, rotational motion component 6, grinding wheel movement component 7.
In first straight line moving parts, the first motor 2-1, first shaft coupling 2-2, first straight line moving base 2-3, two
First feed rod 2-4,2-5, the first leading screw 2-6, first straight line moves sliding block 2-7, two the first rotating shaft bearings seat 2-8,2-9,
Two first rotating shaft bearing 2-10,2-11, the first rotary shaft 2-12, head rod 2-13, the first leading screw bearing 2-14, the
One leading screw fixed block 2-15.
In second straight line moving parts, the second motor 3-1, second shaft coupling 3-2, second straight line moving base 3-3, two
Second feed rod 3-4,3-5, the second leading screw 3-6, second straight line moves sliding block 3-7, two the second rotating shaft bearings seat 3-8,3-9,
Two second rotating shaft bearing 3-10,3-11, the second rotary shaft 3-12, the second connecting rod 3-13, the second leading screw bearing 3-14, the
Two leading screw fixed block 3-15.
In 3rd linear motion component, the 3rd motor 4-1, the 3rd shaft coupling 4-2, the 3rd linear motion pedestal 4-3, two
The rectilinear movement of 3rd feed rod 4-4,4-5, the 3rd leading screw 4-6, the 3rd sliding block 4-7, two the 3rd rotating shaft bearings seat 4-8,4-9,
Two the 3rd rotating shaft bearings 4-10,4-11, the 3rd rotary shaft 4-12, the 3rd connecting rod 4-13, the 3rd leading screw bearing 4-14, the
Three leading screw fixed block 4-15.
In 4th linear motion component, the 4th motor 5-1, the 4th shaft coupling 5-2, the 4th linear motion pedestal 5-3, two
The rectilinear movement of 4th feed rod 5-4,5-5, the 4th leading screw 5-6, the 4th sliding block 5-7, two the 4th rotating shaft bearings seat 5-8,5-9,
Two the 4th rotating shaft bearings 5-10,5-11, the 4th rotary shaft 5-12, the 4th connecting rod 5-13, the 4th leading screw bearing 5-14, the
Four leading screw fixed block 5-15.
In rotational motion component, rotary electric machine 6-1, rotary electric machine seat 6-2, rotary electric machine shaft coupling 6-3, electric machine rotational axis
6-4, four electric machine rotational axis bearing 6-5,6-6,6-33,6-34, four U-shaped link 6-7,6-17,6-22,6-31, eight
Cardan axis socket end, 6-8,6-9,6-12,6-13,6-23,6-24,6-27,6-28, eight universal joint bearings 6-10,6-11,6-
14th, 6-15,6-25,6-26,6-29,6-30, two cross bar 6-16,6-35, Slider platform 6-18, sliding block 6-19, guide rail
6-20, guide rail platform 6-21, non-electric machine rotational axis 6-32.
In grinding wheel movement component, first bearing seat 7-1, clutch shaft bearing 7-2, emery wheel 7-3, second bearing 7-4, emery wheel rotation
Shaft sleeve 7-5, second bearing seat 7-6, emery wheel rotary shaft 7-7, grinding wheel drive mitor seat 7-8, grinding wheel drive mitor shaft coupling 7-9, emery wheel electricity
Machine 7-10.
Embodiment：
With reference to accompanying drawing, the invention will be further described.
A kind of parallel lapping device, as shown in Figure 1.The lapping device includes：Frame 1, first to fourth linear motion
Component 2,3,4,5, rotational motion component 6, grinding wheel movement component 7.
First to fourth linear motion pedestal 2-3,3-3,4- of first to fourth described linear motion component 2,3,4,5
3rd, 5-3 is respectively fixedly connected with frame 1 by screw.
First straight line moving parts 2 and second straight line moving parts 3 pass through the hole in two component connecting rods 2-13,3-13
It is engaged respectively with the electric machine rotational axis 6-4 in rotational motion component 5.3rd linear motion component 4 and the 4th linear motion group
Part 5 by the hole in two component connecting rods 4-13,5-13 respectively with the non-electric machine rotational axis 6-32 phases in rotational motion component
Coordinate.
First bearing seat 7-1 and second bearing seat 7-6 in emery wheel mechanism assembly 7 respectively with rotational motion component 6
Guide rail platform 6-21 is fixedly connected.
In first straight line moving parts, as shown in Fig. 2 the first motor 2-1 is bolted on first straight line motion base
The seat 2-3 end with shaft coupling recess.First shaft coupling 2-2 is fixed with the first motor 2-1 by trip bolt,
Coordinated with the first motor 2-1 output shaft.First leading screw fixed block 2-15 is fixed by screws in first straight line motion base
Seat 2-3 without shaft coupling recess end.First leading screw bearing 2-14 is located at the first leading screw fixed block 2-15 lead screw shaft
At bearing bore.First leading screw 2-6 one end is engaged through shaft coupling recess with first shaft coupling 2-2, the other end and the first lead screw shaft
2-14 is held to be engaged.Two first feed rod feed rods 2-4,2-5 are located at the first leading screw 2-6 both sides respectively, and one end is transported with first straight line
Moving base 2-3 is engaged, and one end coordinates with the first leading screw fixed block 2-15.First straight line moves sliding block 2-7 and the first leading screw 2-6
It is engaged, while being engaged with two first feed rods 2-4,2-5.Two the first rotating shaft bearing seat 2-8,2-9 and first straight line
Mobile sliding block 2-7 is fixedly connected, and two first rotating shaft bearings 2-10,2-11 are separately mounted to two the first rotating shaft bearing seats
In 2-8,2-9.First rotary shaft 2-12 two ends are engaged with two first rotating shaft bearings 2-10,2-11 respectively, and with
The hole that one connecting rod 2-13 isolated edge is nearer coordinates.
In second straight line moving parts, as shown in fig. 6, the second motor 3-1 is bolted on second straight line motion base
The seat 3-3 end with shaft coupling recess.Second shaft coupling 3-2 is fixed with the second motor 3-1 by trip bolt,
Coordinated with the second motor 3-1 output shaft.Second leading screw fixed block 3-15 is fixed by screws in second straight line motion base
Seat 3-3 without shaft coupling recess end.Second leading screw bearing 3-14 is located at the second leading screw fixed block 3-15 lead screw shaft
At bearing bore.Second leading screw 3-6 one end is engaged through shaft coupling recess with second shaft coupling 3-2, the other end and the second lead screw shaft
3-14 is held to be engaged.Two second feed rod feed rods 3-4,3-5 are located at the second leading screw 3-6 both sides respectively, and one end is transported with second straight line
Moving base 3-3 is engaged, and one end coordinates with the second leading screw fixed block 3-15.Second straight line moves sliding block 3-7 and the second leading screw 3-6
It is engaged, while being engaged with two second feed rods 3-4,3-5.Two the second rotating shaft bearing seat 3-8,3-9 and second straight line
Mobile sliding block 3-7 is fixedly connected, and two second rotating shaft bearings 3-10,3-11 are separately mounted to two the second rotating shaft bearing seats
In 3-8,3-9.Second rotary shaft 3-12 two ends are engaged with two second rotating shaft bearings 3-10,3-11 respectively, and with
The hole that two connecting rod 3-13 isolated edge is nearer coordinates.
In 3rd linear motion component, as shown in fig. 7, the 3rd motor 4-1 is bolted on the 3rd linear motion base
The seat 4-3 end with shaft coupling recess.3rd shaft coupling 4-2 and the 3rd motor 4-1 is fixed by trip bolt,
Coordinated with the 3rd motor 4-1 output shaft.3rd leading screw fixed block 4-15 is fixed by screws in the 3rd linear motion base
Seat 4-3 without shaft coupling recess end.3rd leading screw bearing 4-14 is located at the 3rd leading screw fixed block 4-15 lead screw shaft
At bearing bore.3rd leading screw 4-6 one end is engaged through shaft coupling recess with the 3rd shaft coupling 4-2, the other end and the 3rd lead screw shaft
4-14 is held to be engaged.Two the 3rd feed rod feed rods 4-4,4-5 are located at the 3rd leading screw 4-6 both sides respectively, and one end is transported with the 3rd straight line
Moving base 4-3 is engaged, and one end coordinates with the 3rd leading screw fixed block 4-15.3rd rectilinear movement sliding block 4-7 and the 3rd leading screw 4-6
It is engaged, while being engaged with two the 3rd feed rods 4-4,4-5.Two the 3rd rotating shaft bearing seat 4-8,4-9 and the 3rd straight line
Mobile sliding block 4-7 is fixedly connected, and two the 3rd rotating shaft bearings 4-10,4-11 are separately mounted to two the 3rd rotating shaft bearing seats
In 4-8,4-9.3rd rotary shaft 4-12 two ends are engaged with two the 3rd rotating shaft bearings 4-10,4-11 respectively, and with
The hole that three connecting rod 4-13 isolated edge is nearer coordinates.
In 4th linear motion component, as shown in figure 8, the 4th motor 5-1 is bolted on the 4th linear motion base
The seat 5-3 end with shaft coupling recess.4th shaft coupling 5-2 and the 4th motor 5-1 is fixed by trip bolt,
Coordinated with the 4th motor 5-1 output shaft.4th leading screw fixed block 5-15 is fixed by screws in the 4th linear motion base
Seat 5-3 without shaft coupling recess end.4th leading screw bearing 5-14 is located at the 4th leading screw fixed block 5-15 lead screw shaft
At bearing bore.4th leading screw 5-6 one end is engaged through shaft coupling recess with the 4th shaft coupling 5-2, the other end and the 4th lead screw shaft
5-14 is held to be engaged.Two the 4th feed rod feed rods 5-4,5-5 are located at the 4th leading screw 5-6 both sides respectively, and one end is transported with the 4th straight line
Moving base 5-3 is engaged, and one end coordinates with the 4th leading screw fixed block 5-15.4th rectilinear movement sliding block 5-7 and the 4th leading screw 5-6
It is engaged, while being engaged with two the 4th feed rods 5-4,5-5.Two the 4th rotating shaft bearing seat 5-8,5-9 and the 4th straight line
Mobile sliding block 5-7 is fixedly connected, and two the 4th rotating shaft bearings 5-10,5-11 are separately mounted to two the 4th rotating shaft bearing seats
In 5-8,5-9.4th rotary shaft 5-12 two ends are engaged with two the 4th rotating shaft bearings 5-10,5-11 respectively, and with
The hole that four connecting rod 5-13 isolated edge is nearer coordinates.
In frame 1, as shown in figure 14, the first groove and the 4th groove parallel arrangement, the first groove and the second groove hang down
Straight arrangement, and the first groove and the second groove are located at the homonymy of frame.Second groove and the 3rd groove parallel arrangement, the 3rd groove
Arranged with the 4th texturearunaperpendicular, and the 3rd groove and the 4th groove are located at the homonymy of frame.
In rotational motion component 6, as shown in figure 3, rotary electric machine seat 6-2 is fixedly connected with head rod 2-13, rotate
Motor 6-1 is fixed on rotary electric machine seat 6-2.Four electric machine rotational axis bearings 6-10,6-11,6-14,6-15 are respectively with first
Coordinate to the 4th connecting rod 2-13,3-13,4-13,5-13 hole.Electric rotating machine 6-1 output end and rotary electric machine shaft coupling 6-
3 coordinate, and electric machine rotational axis 6-4 do not polish one end and rotary electric machine shaft coupling 6-3 coordinate, through two electric machine rotational axis axles
6-5,6-6 are held, is fixedly connected with U-shaped link 6-7.Two universal joint bearings are respectively arranged with each U-shaped link, and are furnished with
Two universal joint bearing caps.Cross bar 6-16 a pair of relative two ends are universal with two in U-shaped link 6-7 respectively
The inner ring of bearings 6-10,6-11 is engaged, the relative two ends of another pair respectively with two universal joints in U-shaped link 6-17
Bearing 6-14,6-15 inner ring are engaged.U-shaped link 6-17 is fixedly connected with Slider platform 6-18.Sliding block 6-19 is fixed on
On Slider platform 6-18, sliding block 6-19 is engaged with guide rail 6-20, and guide rail 6-20 is fixed on guide rail platform 6-21.Guide rail platform
The first bearing seat 7-1 and second bearing seat 7-6 of grinding wheel movement component are fixedly connected with 6-21.In the another of guide rail platform 6-21
Side, is fixedly connected with U-shaped link 6-22.U-shaped link 6-22 and U-shaped link 6-31 and cross bar 6-35, universal joint
Bearing 6-25,6-26,6-29,6-30, universal joint bearing cap 6-23,6-24,6-27,6-28 connected mode and U-shaped connection
Frame 6-17 is similar and symmetrical with U-shaped link 6-7 connected mode.U-shaped link 6-31 and non-electric machine rotational axis 6-32 mill
Flush end is fixedly connected, through two rotating shaft bearings 6-33,6- with the 3rd connecting rod 4-13 and the 4th connecting rod 5-13 cooperations
34。
In grinding wheel movement component, as shown in figure 4, first bearing seat 7-1 and second bearing seat 7-6 are fixed on guide rail platform 6-
On 21.Clutch shaft bearing 7-2, second bearing 7-4 are engaged with first bearing seat 7-1, second bearing seat 7-6 respectively.Emery wheel rotates
Axle 7-7 sequentially passes through clutch shaft bearing 7-2, emery wheel 7-3, emery wheel rotary shaft sleeve 7-5, second bearing 7-4, last and grinding wheel drive mitor
Shaft coupling 7-9 is engaged.Grinding wheel drive mitor seat 7-8 is fixedly connected with second bearing seat 7-6, and fixes company with grinding wheel drive mitor 7-10
Connect.Grinding wheel drive mitor 7-10 output shaft is engaged with grinding wheel drive mitor shaft coupling 7-9.
As shown in Fig. 5, Figure 11, Figure 12, cross bar 6-16 a pair of relative two ends respectively with U-shaped link 6-7
Two universal joint bearings 6-10,6-11 inner ring be engaged, the relative two ends of another pair respectively with U-shaped link 6-17
Two universal joint bearings 6-14,6-15 inner ring are engaged.
As shown in figure 9, two first rotating shaft bearings 2-10,2-11 are separately mounted to two the first rotating shaft bearing seat 2-
8th, in 2-9.First rotary shaft 2-12 two ends are engaged with two first rotating shaft bearings 2-10,2-11 respectively, and with first
The hole that connecting rod 2-13 isolated edge is nearer coordinates.
As shown in Figure 10, first straight line moving parts 2 and second straight line moving parts 3 pass through two component connecting rod 2-
13rd, the hole on 3-13 is engaged with the electric machine rotational axis 6-4 in rotational motion component 5 respectively.
As shown in figure 13, emery wheel rotary shaft 7-7 sequentially passes through clutch shaft bearing 7-2, emery wheel 7-3, emery wheel rotary shaft sleeve 7-
5th, second bearing 7-4, last and grinding wheel drive mitor shaft coupling 7-9 is engaged.
As shown in figure 15, first straight line moving base 2-3 carries shaft coupling recess.
As shown in figure 16, first straight line movement sliding block 2-7 concrete structure.
As shown in figure 17, the first leading screw fixed block 2-15 concrete structure.
As shown in figure 18, U-shaped link 6-7 concrete structure.
As shown in figure 19, cross bar 6-16 concrete structure.
As shown in figure 20, universal joint bearing cap 6-13 concrete structure.
As shown in figure 21, head rod 2-13 concrete structure.
As shown in figure 22, the first rotating shaft bearing seat 2-8 concrete structure.
As shown in figure 23, Slider platform 6-18 concrete structure.
As shown in figure 24, guide rail platform 6-21 concrete structure.
As shown in figure 25, rotary electric machine seat 6-2 concrete structure.
As shown in figure 26, first bearing seat 7-1 concrete structure.
As shown in figure 27, second bearing seat 7-6 concrete structure.
Claims (4)
1. a kind of parallel lapping device, it is characterised in that the lapping device includes：Frame 1, first to fourth linear motion group
Part 2,3,4,5, rotational motion component 6, grinding wheel movement component 7；
First to fourth linear motion pedestal 2-3,3-3,4-3,5- of first to fourth described linear motion component 2,3,4,5
3 are respectively fixedly connected with frame 1 by screw.
In frame 1, the first groove and the 4th groove parallel arrangement, the first groove and the second texturearunaperpendicular are arranged, and first recessed
Groove and the second groove are located at the homonymy of frame.Second groove and the 3rd groove parallel arrangement, the 3rd groove and the 4th texturearunaperpendicular
Arrangement, and the 3rd groove and the 4th groove are located at the homonymy of frame.
First straight line moving parts 2 and second straight line moving parts 3 are distinguished by the hole in two component connecting rods 2-13,3-13
It is engaged with the electric machine rotational axis 6-4 in rotational motion component 5.3rd linear motion component 4 and the 4th linear motion component 5 are logical
The hole in two component connecting rods 4-13,5-13 is crossed to be engaged with the non-electric machine rotational axis 6-32 in rotational motion component respectively.
First bearing seat 7-1 and second bearing seat 7-6 in emery wheel mechanism assembly 7 respectively with the guide rail in rotational motion component 6
Platform 6-21 is fixedly connected.
2. a kind of parallel lapping device according to claim 1, it is characterised in that in first straight line moving parts, the
One motor 2-1, first shaft coupling 2-2, first straight line moving base 2-3, two first feed rod 2-4,2-5, the first leading screw 2-6,
First straight line movement sliding block 2-7, two the first rotating shaft bearing seat 2-8,2-9, two first rotating shaft bearings 2-10,2-11,
First rotary shaft 2-12, head rod 2-13, the first leading screw bearing 2-14, the first leading screw fixed block 2-15.
In second straight line moving parts, the second motor 3-1, second shaft coupling 3-2, second straight line moving base 3-3, two second
Feed rod 3-4,3-5, the second leading screw 3-6, second straight line movement sliding block 3-7, two the second rotating shaft bearing seat 3-8,3-9, two
The connecting rod of second rotating shaft bearing 3-10,3-11, the second rotary shaft 3-12, second 3-13, the second leading screw bearing 3-14, second
Thick stick fixed block 3-15.
In 3rd linear motion component, the 3rd motor 4-1, the 3rd shaft coupling 4-2, the 3rd linear motion pedestal 4-3, two the 3rd
The rectilinear movement of feed rod 4-4,4-5, the 3rd leading screw 4-6, the 3rd sliding block 4-7, two the 3rd rotating shaft bearing seat 4-8,4-9, two
3rd rotating shaft bearing 4-10,4-11, the 3rd rotary shaft 4-12, the 3rd connecting rod 4-13, the 3rd leading screw bearing 4-14, the 3rd
Thick stick fixed block 4-15.
In 4th linear motion component, the 4th motor 5-1, the 4th shaft coupling 5-2, the 4th linear motion pedestal 5-3, two the 4th
The rectilinear movement of feed rod 5-4,5-5, the 4th leading screw 5-6, the 4th sliding block 5-7, two the 4th rotating shaft bearing seat 5-8,5-9, two
4th rotating shaft bearing 5-10,5-11, the 4th rotary shaft 5-12, the 4th connecting rod 5-13, the 4th leading screw bearing 5-14, the 4th
Thick stick fixed block 5-15.
In first straight line moving parts, the first motor 2-1 be bolted on first straight line moving base 2-3 carry shaft coupling
The end of device recess.First shaft coupling 2-2 is fixed with the first motor 2-1 by trip bolt, with the first motor 2-1's
Output shaft is coordinated.First leading screw fixed block 2-15 is fixed by screws in first straight line moving base 2-3 without shaft coupling
The end of device recess.First leading screw bearing 2-14 is located at the first leading screw fixed block 2-15 leading screw bearing hole.First leading screw
2-6 one end is engaged through shaft coupling recess with first shaft coupling 2-2, and the other end is engaged with the first leading screw bearing 2-14.Two
Individual first feed rod feed rod 2-4,2-5 are located at the first leading screw 2-6 both sides respectively, and one end is engaged with first straight line moving base 2-3,
One end coordinates with the first leading screw fixed block 2-15.First straight line movement sliding block 2-7 is engaged with the first leading screw 2-6, while with two
Individual first feed rod 2-4,2-5 are engaged.Two the first rotating shaft bearing seat 2-8,2-9 and first straight line movement sliding block 2-7 are fixed
Connection, two first rotating shaft bearings 2-10,2-11 are separately mounted in two the first rotating shaft bearing seats 2-8,2-9.First
Rotary shaft 2-12 two ends are engaged with two first rotating shaft bearings 2-10,2-11 respectively, and with head rod 2-13's
The nearer hole of isolated edge coordinates.
In second straight line moving parts, the second motor 3-1 be bolted on second straight line moving base 3-3 carry shaft coupling
The end of device recess.Second shaft coupling 3-2 is fixed with the second motor 3-1 by trip bolt, with the second motor 3-1's
Output shaft is coordinated.Second leading screw fixed block 3-15 is fixed by screws in second straight line moving base 3-3 without shaft coupling
The end of device recess.Second leading screw bearing 3-14 is located at the second leading screw fixed block 3-15 leading screw bearing hole.Second leading screw
3-6 one end is engaged through shaft coupling recess with second shaft coupling 3-2, and the other end is engaged with the second leading screw bearing 3-14.Two
Individual second feed rod feed rod 3-4,3-5 are located at the second leading screw 3-6 both sides respectively, and one end is engaged with second straight line moving base 3-3,
One end coordinates with the second leading screw fixed block 3-15.Second straight line movement sliding block 3-7 is engaged with the second leading screw 3-6, while with two
Individual second feed rod 3-4,3-5 are engaged.Two the second rotating shaft bearing seat 3-8,3-9 and second straight line movement sliding block 3-7 are fixed
Connection, two second rotating shaft bearings 3-10,3-11 are separately mounted in two the second rotating shaft bearing seats 3-8,3-9.Second
Rotary shaft 3-12 two ends are engaged with two second rotating shaft bearings 3-10,3-11 respectively, and with the second connecting rod 3-13's
The nearer hole of isolated edge coordinates.
In 3rd linear motion component, what the 3rd motor 4-1 was bolted on the 3rd linear motion pedestal 4-3 carries shaft coupling
The end of device recess.3rd shaft coupling 4-2 and the 3rd motor 4-1 is fixed by trip bolt, with the 3rd motor 4-1's
Output shaft is coordinated.3rd leading screw fixed block 4-15 is fixed by screws in the 3rd linear motion pedestal 4-3 without shaft coupling
The end of device recess.3rd leading screw bearing 4-14 is located at the 3rd leading screw fixed block 4-15 leading screw bearing hole.3rd leading screw
4-6 one end is engaged through shaft coupling recess with the 3rd shaft coupling 4-2, and the other end is engaged with the 3rd leading screw bearing 4-14.Two
Individual 3rd feed rod feed rod 4-4,4-5 are located at the 3rd leading screw 4-6 both sides respectively, and one end is engaged with the 3rd linear motion pedestal 4-3,
One end coordinates with the 3rd leading screw fixed block 4-15.3rd rectilinear movement sliding block 4-7 is engaged with the 3rd leading screw 4-6, while with two
Individual 3rd feed rod 4-4,4-5 are engaged.Two the 3rd rotating shaft bearing seat 4-8,4-9 are fixed with the 3rd rectilinear movement sliding block 4-7
Connection, two the 3rd rotating shaft bearings 4-10,4-11 are separately mounted in two the 3rd rotating shaft bearing seats 4-8,4-9.3rd
Rotary shaft 4-12 two ends are engaged with two the 3rd rotating shaft bearings 4-10,4-11 respectively, and with the 3rd connecting rod 4-13's
The nearer hole of isolated edge coordinates.
In 4th linear motion component, what the 4th motor 5-1 was bolted on the 4th linear motion pedestal 5-3 carries shaft coupling
The end of device recess.4th shaft coupling 5-2 and the 4th motor 5-1 is fixed by trip bolt, with the 4th motor 5-1's
Output shaft is coordinated.4th leading screw fixed block 5-15 is fixed by screws in the 4th linear motion pedestal 5-3 without shaft coupling
The end of device recess.4th leading screw bearing 5-14 is located at the 4th leading screw fixed block 5-15 leading screw bearing hole.4th leading screw
5-6 one end is engaged through shaft coupling recess with the 4th shaft coupling 5-2, and the other end is engaged with the 4th leading screw bearing 5-14.Two
Individual 4th feed rod feed rod 5-4,5-5 are located at the 4th leading screw 5-6 both sides respectively, and one end is engaged with the 4th linear motion pedestal 5-3,
One end coordinates with the 4th leading screw fixed block 5-15.4th rectilinear movement sliding block 5-7 is engaged with the 4th leading screw 5-6, while with two
Individual 4th feed rod 5-4,5-5 are engaged.Two the 4th rotating shaft bearing seat 5-8,5-9 are fixed with the 4th rectilinear movement sliding block 5-7
Connection, two the 4th rotating shaft bearings 5-10,5-11 are separately mounted in two the 4th rotating shaft bearing seats 5-8,5-9.4th
Rotary shaft 5-12 two ends are engaged with two the 4th rotating shaft bearings 5-10,5-11 respectively, and with the 4th connecting rod 5-13's
The nearer hole of isolated edge coordinates.
3. a kind of parallel lapping device according to claim 1, it is characterised in that in rotational motion component, rotates electricity
Machine 6-1, rotary electric machine seat 6-2, rotary electric machine shaft coupling 6-3, electric machine rotational axis 6-4, four electric machine rotational axis bearings 6-5,6-
6th, 6-33,6-34, four U-shaped link 6-7,6-17,6-22,6-31, eight cardan axis socket ends, 6-8,6-9,6-12,6-
13rd, 6-23,6-24,6-27,6-28, eight universal joint bearings 6-10,6-11,6-14,6-15,6-25,6-26,6-29,6-30,
Two cross bar 6-16,6-35, Slider platform 6-18, sliding block 6-19, guide rail 6-20, guide rail platform 6-21, non-motor rotation
Axle 6-32.
In rotational motion component 6, rotary electric machine seat 6-2 is fixedly connected with head rod 2-13, and rotary electric machine 6-1, which is fixed on, to be turned
On dynamic motor cabinet 6-2.Four electric machine rotational axis bearings 6-10,6-11,6-14,6-15 respectively with first to fourth connecting rod 2-
13rd, 3-13,4-13,5-13 hole coordinate.Electric rotating machine 6-1 output end coordinates with rotary electric machine shaft coupling 6-3, and motor revolves
Rotating shaft 6-4 do not polish one end and rotary electric machine shaft coupling 6-3 coordinate, through two electric machine rotational axis bearing 6-5,6-6, with U
Type link 6-7 is fixedly connected.Two universal joint bearings are respectively arranged with each U-shaped link, and equipped with two cardan axis
Socket end lid.Cross bar 6-16 a pair of relative two ends respectively with two universal joint bearing 6-10 in U-shaped link 6-7,
6-11 inner ring is engaged, the relative two ends of another pair respectively with two universal joint bearings 6-14,6- in U-shaped link 6-17
15 inner ring is engaged.U-shaped link 6-17 is fixedly connected with Slider platform 6-18.Sliding block 6-19 is fixed on Slider platform 6-18
On, sliding block 6-19 is engaged with guide rail 6-20, and guide rail 6-20 is fixed on guide rail platform 6-21.It is fixed on guide rail platform 6-21 to connect
Meet the first bearing seat 7-1 and second bearing seat 7-6 of grinding wheel movement component.In guide rail platform 6-21 opposite side, U is fixedly connected with
Type link 6-22.U-shaped link 6-22 and U-shaped link 6-31 and cross bar 6-35, universal joint bearing 6-25,6-
26th, 6-29,6-30, universal joint bearing cap 6-23,6-24,6-27,6-28 connected mode and U-shaped link 6-17 with it is U-shaped
Link 6-7 connected mode is similar and symmetrical.U-shaped link 6-31 and non-electric machine rotational axis 6-32's polishes the fixed company in end
Connect, through two rotating shaft bearings 6-33,6-34 with the 3rd connecting rod 4-13 and the 4th connecting rod 5-13 cooperations.
4. a kind of parallel lapping device according to claim 1, it is characterised in that in grinding wheel movement component, first axle
Bearing 7-1, clutch shaft bearing 7-2, emery wheel 7-3, second bearing 7-4, emery wheel rotary shaft sleeve 7-5, second bearing seat 7-6, emery wheel
Rotary shaft 7-7, grinding wheel drive mitor seat 7-8, grinding wheel drive mitor shaft coupling 7-9, grinding wheel drive mitor 7-10.
In grinding wheel movement component, first bearing seat 7-1 and second bearing seat 7-6 are fixed on guide rail platform 6-21.Clutch shaft bearing
7-2, second bearing 7-4 are engaged with first bearing seat 7-1, second bearing seat 7-6 respectively.Emery wheel rotary shaft 7-7 is sequentially passed through
Clutch shaft bearing 7-2, emery wheel 7-3, emery wheel rotary shaft sleeve 7-5, second bearing 7-4, last and grinding wheel drive mitor shaft coupling 7-9 match
Close.Grinding wheel drive mitor seat 7-8 is fixedly connected with second bearing seat 7-6, and is fixedly connected with grinding wheel drive mitor 7-10.Grinding wheel drive mitor 7-
10 output shaft is engaged with grinding wheel drive mitor shaft coupling 7-9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710496461.6A CN107081672B (en) | 2017-06-26 | 2017-06-26 | A kind of parallel grinding device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710496461.6A CN107081672B (en) | 2017-06-26 | 2017-06-26 | A kind of parallel grinding device |
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| CN107081672B CN107081672B (en) | 2019-10-22 |
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| CN201710496461.6A Expired - Fee Related CN107081672B (en) | 2017-06-26 | 2017-06-26 | A kind of parallel grinding device |
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| CN103978393A (en) * | 2014-05-07 | 2014-08-13 | 天津大学 | Parallel machine tool capable of realizing five-axis processing |
| CN206048179U (en) * | 2016-09-23 | 2017-03-29 | 苏州哈工海渡工业机器人有限公司 | A kind of linear type parallel robot |
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|---|---|---|---|---|
| CN1246400A (en) * | 1999-07-16 | 2000-03-08 | 清华大学 | Ganty slide block type machine tool structure with virtal shaft driven by internal and external sets |
| CN2742572Y (en) * | 2004-09-30 | 2005-11-23 | 广东工业大学 | Two freedom adhesive sheet machine welding head structure of plane double slide block parallel mechanism |
| CN2751993Y (en) * | 2004-09-30 | 2006-01-18 | 广东工业大学 | Two-dimensional translational one-dimensional rotary suspension type three freedom paralleling mechanism |
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| CN107081672B (en) | 2019-10-22 |
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