CN109877602A - A kind of multiple degrees of freedom punching device - Google Patents
A kind of multiple degrees of freedom punching device Download PDFInfo
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- CN109877602A CN109877602A CN201910197860.1A CN201910197860A CN109877602A CN 109877602 A CN109877602 A CN 109877602A CN 201910197860 A CN201910197860 A CN 201910197860A CN 109877602 A CN109877602 A CN 109877602A
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Abstract
The invention discloses a kind of multiple degrees of freedom punching devices, solve the technical problem of complex surface drilling.It includes pose adjustment part, drilling execution part and support section, and each axis of multiple degrees of freedom punching device of the present invention is adjusted according to position to be processed, and drilling execution part is made to reach predeterminated position, so that drilling is completed in substep movement.On the one hand apparatus of the present invention pass through Level Multiple Degree of Freedom Structures in parallel, realize the independent control of each freedom degree；On the other hand the design to be suspended using the fixed front end in end, realizes the pose adjustment of drilling execution part；It is realized by using worm and gear compact-sized.
Description
Technical field
The invention belongs to the technical field of multiple degrees of freedom automatic punching equipment, in particular to a kind of multiple degrees of freedom drilling dress
It sets.
Background technique
Due to the raising of processing request, modern mechanical processing technology and equipment Development show high-accuracy, intelligent, compound
The trend such as type.
Common drilling at present it is mechanical it is general carry out the axial cooked mode of XYZ tri-, but as what product sent out degree miscellaneous mentions
Height, especially complex surface, the drilling demand of narrow space, it is desirable that drilling equipment has more freedom and more high integration.Together
When, there is processing blind area in existing process equipment, location of workpiece adjustment needs to relocate, and to guaranteeing that machining accuracy is unfavorable, work as workpiece
When position is not easy to adjust, the contradiction of accuracy guarantee and processing conditions is more prominent.
Using fixed mode, structure is complicated, and volume is big, it is difficult to adapt to current manufacture demand, integrated design degree is high, operation
Flexible multiple degrees of freedom punching device has extensive demand.
Summary of the invention
The present invention is a kind of multiple degrees of freedom punching device, and to be solved is how to solve the technology of complex surface drilling to ask
On the one hand topic, apparatus of the present invention pass through Level Multiple Degree of Freedom Structures in parallel, realize the independent control of each freedom degree；On the other hand it adopts
The design of front end suspension is fixed with end, realizes the pose adjustment of drilling execution part；Finished by using worm and gear realization
Structure is compact.
A kind of multiple degrees of freedom punching device of the invention comprising have pose adjustment part, drilling execution part and support
Part；
The second sliding rail rack of Y-axis (59), Y-axis driving motor bracket (30) are fixed on bottom plate (1), Y-axis driving motor (4) with
Y-axis driving motor bracket (30) is connected, and Y-axis driving wheel (2) and Y-axis driving motor (4) are connected, and Y-axis lead screw (57) and Y-axis drive
Electric machine support (30) connection, Y-axis lead screw (57) one end and Y-axis driven wheel (31) are connected, Y-axis driving wheel (2) and Y-axis driven wheel
(31) it is engaged simultaneously with the first synchronous belt (3), the second sliding rail of Y-axis (58), the first sliding rail of Y-axis (28) are fixed on the second sliding rail of Y-axis
Bracket (59), the first sliding block of Y-axis (43), Y-axis feed screw nut (44), the second sliding block of Y-axis (45) are fixed on the first slider bracket of Y-axis
(46), the first sliding block of Y-axis (43), the second sliding block of Y-axis (45) are respectively with the second sliding rail of Y-axis (58), and the first sliding rail of Y-axis (28) is even
It connects, Y-axis feed screw nut (44) is connect with Y-axis lead screw (57), and RX axis shaft (47) one end and RY axis driving motor bracket (26) are solid
Even, one end is connect with Y-axis slider bracket (46) by bearing, and RY axis feed screw nut (61) passes through bearing and RY axis driving motor branch
Frame (26) connection, RY axis feed screw nut (61) be located at the inner hole of RY axis driven wheel (25) and with its be connected, RX axis worm gear (42) and
RY axis driving motor bracket (26) is connected, and RX axis driving motor bracket (27) and Y-axis slider bracket (46) are connected, RX axis driving electricity
Machine (29) and RX axis driving motor bracket (27) are connected, and RX axis worm screw (6) is connect by bearing with Y-axis slider bracket (46), RX
Axis worm screw (6) and RX axis driving motor (29) are connected by first shaft coupling (5), and RX axis worm screw (6) nibbles with RX axis worm gear (42)
It closes, RY axial filament thick stick (41) is connect with RY axis feed screw nut (61), and RY axial filament thick stick (41) passes through RY upper shaft (40) and RY upper shaft
Sliding block (39) connection, RY upper shaft sliding block (39) are located in the sliding slot of front support frame (48), front support frame (48) and RY axis
Driving motor bracket (26) is connected by RY lower rotary shaft (49), and Z axis support plate (24) and front support frame (48) are connected, and Z axis is sliding
Rail (50) and Z axis support plate (24) are connected, and Z axis driving motor bracket (12) and Z axis support plate (24) are connected, Z axis driving motor
(10) it is connected with Z axis driving motor bracket (12), Z axis worm screw (14) is connect by bearing with Z axis support plate (24), Z axis lead screw
Bracket (23) and Z axis support plate (24) are connected, and Z axis worm gear (13) is engaged with Z axis worm screw (14), and Z axis lead screw (51) passes through bearing
It is connect with Z axis lead screw bracket (23), Z axis worm gear (13) and Z axis lead screw (51) are connected, and Z axis sliding block (38) and Z axis slide rail (50) are even
It connects, Z axis sliding block (38) and Elbow drill bracket (52) are connected；
Z axis feed screw nut (22) is connect with Z axis lead screw (51), and Z axis feed screw nut (22) is crossed in limit sliding sleeve bracket (21)
It is connected Kong Bingyu, and two parts are connected on Elbow drill bracket (52), limit sliding sleeve (15) be placed on Elbow drill (18) and with
It limits sliding sleeve bracket (21) to be connected, position limiting slide block (16) is placed on Elbow drill (18) and is connected with position limiting slide block bracket (17), limit
Position slider bracket (17) and Elbow drill bracket (52) is connected, and the first vertical cylinder (20) and the second vertical cylinder (37) upper end are connected
In the two sides of position limiting slide block bracket (17), the first vertical cylinder (20) and the second vertical cylinder (37) lower end are fixed on sleeve support
The two sides of frame connector (36), sleeve support frame connector (36) and sleeve support frame (34) to be connected, and sleeve interior bar (32) and insert
Support frame (34) are covered to be threadedly coupled, sleeve support frame locating part (53) be located at Elbow drill bracket (52) sliding slot it is interior and with sleeve branch
Support (34) is connected, and sleeve cylinder (54) and sleeve support frame (34) are connected, sleeve cylinder (54) and sleeve cylinder push-rod (55)
It is connected, sleeve cylinder push-rod (55) front end is located in the sliding slot of sleeve support frame (34), and sleeve sliding block (56) is pushed away with sleeve cylinder
Bar (55) is connected, and sleeve sliding block (56) is located in the sliding slot of sleeve housing bracket (35), and sleeve housing (33) upper end is nested in slotting
In the groove for covering housing bracket (35), drill bit (19) is threadedly coupled with Elbow drill (18).
A kind of multiple degrees of freedom punching device work step of the invention is as follows:
First, start each driving motor, setting position is adjusted to suitable position；
Second, two vertical cylinder movements, sleeve support frame falls, and sleeve housing is fallen into the hole on bushing plate, sleeve
Cylinder movement, sleeve housing are moved upwards along sleeve interior bar, the hole inner wall obvolvent of sleeve housing expansion and bushing plate；
Third, two vertical cylinders are died, Elbow drill starting, bit, the starting of Z axis driving motor, and drill bit is transported downwards
Dynamic, contact workpiece completes drilling.
Device Attitude control includes following two categories:
The first kind is linear motion, and the Y-axis driving motor and Z axis driving motor provide device along Y-axis and Z axis respectively
The linear motion of both direction；In addition, device can be placed on different motion platforms, linear motion along the x axis is generated；
Second class is rotary motion, and the RX axis driving motor and RY axis driving motor provide device around X-axis and Y respectively
The rotary motion of axis both direction.
Compared with the prior art, the present invention has the following beneficial effects:
The present invention passes through the Level Multiple Degree of Freedom Structures being arranged in parallel, and realizes the independent control of each freedom degree；It is solid using end
The design scheme for determining front end suspension, realizes the whole pose adjustment of executive device；It is designed, is realized tight by using worm and gear etc.
The apparatus structure to gather.
Detailed description of the invention
Fig. 1 is the structure chart of multiple degrees of freedom punching device of the invention.
Figure 1A is another viewing angle constructions figure of multiple degrees of freedom punching device of the invention.
Figure 1B is the front view of Fig. 1.Fig. 1 C is the rearview of Fig. 2.
Fig. 1 D is the left view of Fig. 1.Fig. 1 E is the right view of Fig. 2.
Fig. 2 is the support section structure chart of multiple degrees of freedom punching device of the invention.
Fig. 2A is another viewing angle constructions figure of the support section of multiple degrees of freedom punching device of the invention.
Fig. 2 B is the structure chart of bottom plate of the present invention.Fig. 2 C is the structure chart of Z axis driving motor bracket of the present invention.
Fig. 2 D is the structure chart of position limiting slide block bracket of the present invention.
Fig. 2 E is another viewing angle constructions figure of position limiting slide block bracket of the present invention.
Fig. 2 F is the structure chart of Z axis support plate of the present invention.
Fig. 2 G is the structure chart of RY axis driving motor bracket of the present invention.
Fig. 2 H is another viewing angle constructions figure of RY axis driving motor bracket of the present invention.
Fig. 2 I is the structure chart of RX axis driving motor bracket of the present invention.
Fig. 2 J is the structure chart of Y-axis driving motor bracket of the present invention.
Fig. 2 K is the structure chart of the first Y-axis slider bracket of the invention.
Fig. 2 L is the structure chart of the second Y-axis slider bracket of the invention.
Fig. 3 is the drilling execution part structure chart of multiple degrees of freedom punching device of the invention.
Fig. 3 A is another viewing angle constructions figure of the drilling execution part of multiple degrees of freedom punching device of the invention.
Fig. 3 B is the decomposition chart of the drilling execution part of multiple degrees of freedom punching device of the invention.
Fig. 3 C is the structure chart of cylinder pushing component in drilling execution part of the present invention.
Fig. 3 D is another viewing angle constructions figure of cylinder pushing component in drilling execution part of the present invention.
Fig. 3 E is sleeve cylinder push-rod structure chart of the invention.
Fig. 3 F is the structure chart of sleeve limit assembly in drilling execution part of the present invention.
Fig. 4 is the structure chart of Y-axis unit of the present invention.Fig. 4 A is another viewing angle constructions figure of Y-axis unit of the present invention.
Fig. 4 B is the decomposition chart of Y-axis unit of the present invention.Fig. 5 is the structure chart of Z axis unit of the present invention.
Fig. 5 A is the decomposition chart of Z axis unit of the present invention.Fig. 6 is the structure chart of RX axle unit of the present invention.
Fig. 6 A is the decomposition chart of RX axle unit of the present invention.Fig. 7 is the structure chart of RY axle unit of the present invention.
Fig. 7 A is the decomposition chart of RY axle unit of the present invention.
Fig. 7 B is the cut-away view of the running part of RY axle unit of the present invention.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail.
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 1 D, Fig. 1 E, the present invention devises a kind of multiple degrees of freedom drilling dress
Set, suitable for complex surface, narrow space, process blind area hole processing.Multiple degrees of freedom punching device of the invention is divided into
Support section, pose adjustment member and drilling execution part.In the present invention, RX axis indicate can around the axis that X-direction rotates,
The expression of RY axis can be around the axis that Y direction rotates.
(1) support section
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 1 D, Fig. 1 E, Fig. 2, Fig. 2A, Fig. 2 B, the bottom plate 1 of support section
On the one hand the AA threaded hole 1B of the JA connecting plate 59A for fixing the second Y-axis sliding rail rack 59 is equipped on the panel 1A of rear end, it is another
Aspect is equipped with the AB threaded hole 1C for fixing the y-axis motor pedestal 30C of Y-axis driving motor bracket 30；The middle part of bottom plate 1 is equipped with
The opening of open cavity 1D, the open cavity 1D are passed through for drilling execution part.The bottom plate 1 that the present invention designs in order to
It is enough to be fixed with other equipment, it is also devised with multiple threaded holes and multiple through-holes thereon.
Referring to shown in Fig. 1, Fig. 2, Fig. 2A, Fig. 2 C, the planform of Z axis driving motor bracket 12 is as shown in Figure 2 C, and Z axis drives
It is opposite on dynamic electric machine support 12 to be equipped with CA connecting plate 12A and CB connecting plate 12B；CA connecting plate 12A is equipped with for Z axis driving motor
The CA through-hole 12A1 that 10 output shaft passes through, and the casing of Z axis driving motor 10 is fixed on CA connecting plate 12A；CB connecting plate
12B is fixed on Z axis and supports on anti-24 BA connecting plate 24A.
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 2, Fig. 2A, the planform of Z axis lead screw bracket 23 is L shape, Z axis
The AA connection panel 23A of lead screw bracket 23 is fixed on Z axis and supports on anti-24 BB connecting plate 24B, and the AB of Z axis lead screw bracket 23 connects
Junction plate 23B is equipped with the Z axis lead screw through-hole 23B1 passed through for Z axis lead screw 51.
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 2, Fig. 2A, the planform of Z axis support plate 24 is as shown in Figure 2 F, Z axis branch
The BA connection panel 24A of fagging 24 is equipped with the CB through-hole 24A1 passed through for 12 one end of Z axis worm screw；The BB of Z axis support plate 24 connects
Z axis lead screw bracket 23 and Z axis slide rail 50 are fixed on another panel of junction plate 24B, and Z axis lead screw bracket 23 is located at Z axis and slides
The top of rail 50.
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 1 D, Fig. 1 E, Fig. 2, Fig. 2A, the knot of RY axis driving motor bracket 26
Shape is configured as shown in Fig. 2 G, Fig. 2 H, RY axis driving motor bracket 26 is equipped with EB support arm 26A, EA connecting plate 26B, EC support arm 26C
With ED support arm 26D；EB support arm 26A is equipped with the EE through-hole 26A1 passed through for the output shaft of RX axis driving motor 29；EA connecting plate
26B is equipped with the one side that EF through-hole 26B1, EG through-hole 26B2, EF through-hole 26B1 is equipped with EA countersunk head chamber 26B3, EA connecting plate 26B
Plate is equipped on EA raised plate 26B4, EA raised plate 26B4 and is fixed with RX axis worm gear 42；The end of EC support arm 26C is equipped with for pacifying
Fill the EH through-hole of 49 one end of RY lower rotary shaft；The end of ED support arm 26D is equipped with the EI through-hole for installing 49 other end of RY lower rotary shaft.
Referring to shown in Fig. 1, Fig. 2, Fig. 2A, Fig. 2 I, the planform of RX axis driving motor bracket 27 as shown in figure 2i, RX axis
It is opposite on driving motor bracket 27 to be equipped with DA connecting plate 27A and DB connecting plate 27B；DA connecting plate 27A is equipped with to be driven for RX axis
The DA through-hole 27A1 that the output shaft of motor 29 passes through, and the casing of RX axis driving motor 29 is fixed on DA connecting plate 27A；DB connects
Fishplate bar 27B is fixed on the FA connecting plate 46A of Y-axis slider bracket 46.
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 1 D, Fig. 1 E, Fig. 2, Fig. 2A, the structure of Y-axis driving motor bracket 30
As shown in fig. 2j, Y-axis driving motor bracket 30 is equipped with y-axis motor connecting plate 30A, Y-axis lead screw connecting plate 30B and Y-axis to shape
Motor base 30C；Y-axis motor pedestal 30C is fixed on bottom plate 1；Y-axis motor connecting plate 30A is equipped with for Y-axis driving motor 4
The YA through-hole 30A1 that passes through of output shaft；Y-axis lead screw connecting plate 30B is equipped with the YB through-hole passed through for 57 one end of Y-axis lead screw
One end of 30B1, YB through-hole 30B1 are the YA countersunk head chamber 30B2 for placing Y-axis bearing 57A.
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 1 D, Fig. 1 E, Fig. 2, Fig. 2A, the planform of Y-axis slider bracket 46
As shown in figure 2k, Y-axis slider bracket 46 is equipped with FA connecting plate 46A and FB connecting plate 46B；FA connecting plate 46A is equipped with for RY
The FA through-hole 46A1 that axis worm screw 6 passes through, one end of the FA through-hole 46A1 are FA countersunk head chamber 46A2；FB connecting plate 46B is equipped with
The FB through-hole 46B1 that RY axis feed screw nut 61 passes through.
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 1 D, Fig. 1 E, Fig. 2, Fig. 2A, the planform of front support frame 48
As shown in Fig. 2 G, Fig. 2 H, the panel of front support frame 48 be equipped with EA connecting column 48A, EB connecting column 48B, EC connecting column 48C,
ED connecting column 48D, EA through-hole 48E, EB through-hole 48F, EC through-hole 48G and EA support arm 48H；The end of EA support arm 48H is equipped with for RY
The ED through-hole that lower rotary shaft 49 passes through；EA connecting column 48A, EB connecting column 48B, EC connecting column 48C and ED connecting column 48D passes through screw
It is fixed on a panel (another panel of the BB connection panel 24B of Z axis support plate 24 of the BB connection panel 24B of Z axis support plate 24
On be fixed with Z axis lead screw bracket 23 and Z axis slide rail 50)；EA through-hole 48E is worn one end for RY upper shaft slider connecting plate 39A
It crosses, the other end of RY upper shaft slider connecting plate 39A is fixed on RY upper shaft sliding block 39；EB through-hole 48F and EC through-hole 48G is used
It is passed through in screw, the screw across EB through-hole 48F and EC through-hole 48G is fixed on RY upper shaft sliding block 39.
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 1 D, Fig. 1 E, Fig. 2, Fig. 2A, the planform of Y-axis sliding rail rack 59
As shown in figure 2l, Y-axis sliding rail rack 59 is equipped with JA connecting plate 59A, JB connecting plate 59B, JC connecting plate 59C；JA connecting plate
Through-hole is respectively equipped on 59A, JB connecting plate 59B and JC connecting plate 59C；JA connecting plate 59A is fixed on bottom plate 1；JB connecting plate
The second sliding rail of Y-axis 58 is installed on 59B；The first sliding rail of Y-axis 28 is installed on JC connecting plate 59C.
(2) drilling execution part
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 1 D, Fig. 1 E, Fig. 3, Fig. 3 A, drilling execution part includes limit
Sliding sleeve 15, position limiting slide block 16, position limiting slide block bracket 17, Elbow drill 18, drill bit 19, the first vertical cylinder 20, the second vertical cylinder
37, sliding sleeve bracket 21, Z axis feed screw nut 22, sleeve interior bar 32, sleeve housing 33, sleeve support frame 34, sleeve housing branch are limited
Frame 35, sleeve support frame connector 36, Elbow drill bracket 52, sleeve support frame locating part 53, sleeve cylinder 54, sleeve cylinder push away
Bar 55, the first sleeve sliding block 56A and the second sleeve sliding block 56B.
The structure of sliding sleeve 15 is limited as shown in Fig. 3, Fig. 3 A, Fig. 3 B, to design the sliding sleeve for thering is OA to be open；Limit sliding sleeve 15
Center is the OA through-hole 15A passed through for 18 one end of Elbow drill, and limit sliding sleeve 15 is socketed in the open end UA of limit sliding sleeve bracket 21
On 21A.
In the present invention, limit sliding sleeve 15 having an open structure is conducive to the flexible contact with Elbow drill 18, so that in Z
Under the cooperation of axial filament thick stick 51 and Z axis feed screw nut 22, take while limit sliding sleeve bracket 21 and move up and down, limit sliding sleeve 15 is tight
Cooperation also in the vertical section of Elbow drill 18, is adjusted height of the Elbow drill 18 on Z axis to realize.
Referring to shown in Fig. 1, Fig. 2, Fig. 2A, Fig. 2 D, Fig. 2 E, Fig. 3, Fig. 3 A, Fig. 3 B, the planform of position limiting slide block bracket 17
As shown in Fig. 2 D, Fig. 2 E, the middle part of position limiting slide block bracket 17 is open rectangle frame 17A, and two outsides of open rectangle frame 17A are symmetrical
Equipped with AA lug 17B, AB lug 17C；AA lug 17B is equipped with the BA through-hole 17B1 passed through for the first vertical cylinder 20；AB is convex
Ear 17C is equipped with the BB through-hole 17C1 passed through for the second vertical cylinder 37；The upper surface of open rectangle frame 17A plate 17A1, which is equipped with, to be supplied
The rectangular through-hole 17A2 that 16 upper end of position limiting slide block passes through；An inner panel of open rectangle frame 17A be equipped with AA groove 17A3 and
Another inner panel of AB groove 17A4, open rectangle frame 17A are equipped with AC groove 17A5 and AD groove 17A6, AA groove 17A3
Cooperate with AC groove 17A5 and realize installation position limiting slide block 16, installation sleeve support is realized in AB groove 17A4 and AD groove 17A6 cooperation
Frame locating part 53.
The structure of sliding sleeve bracket 21 is limited as shown in Fig. 3, Fig. 3 A, Fig. 3 B, one end of limit sliding sleeve bracket 21 is UA opening
21A is held, the other end of limit sliding sleeve bracket 21 is annulus end 21B, and the center of the annulus end 21B is equipped with for Z axis feed screw nut
It is that UA linking arm 21D, UA linking arm 21D is equipped with confession between 22 UA through-hole 21C, UA the open end 21A passed through and annulus end 21B
The UB through-hole 21E that nut passes through, by across UB through-hole 21E nut realize limit sliding sleeve bracket 21 the open end UA 21A with
Limit the installation of sliding sleeve 15.Z axis feed screw nut 22, the annulus end 21B for limiting sliding sleeve bracket 21 are fixed by screws in Elbow drill
On second mounting plate 52D of bracket 52.
For the structure of sleeve interior bar 32 as shown in Fig. 3, Fig. 3 A, Fig. 3 B, sleeve interior bar 32 is equipped with VA shaft part 32A and VB shaft part
It is VA shaft shoulder 32C between 32B, VA shaft part 32A and VB shaft part 32B, the center of sleeve interior bar 32 is VA through-hole 32D.VA through-hole 32D
Elbow 19 for Elbow drill 18 passes through.VA shaft part 32A is mounted in the XB through-hole 34E of sleeve support frame 34, VA shaft shoulder 32C peace
On the WA top panel 33A of sleeve housing 33, VB shaft part 32B is mounted in the WA through-hole 33B of sleeve housing 33.
For the structure of sleeve housing 33 as shown in Fig. 3, Fig. 3 A, Fig. 3 B, the center of sleeve housing 33 is for sleeve interior bar 32
The WA through-hole 33B that passes through of VB shaft part 32B, the upper end of sleeve housing 33 is WA top panel 33A, WA top panel 33A for installing
The VA shaft shoulder 32C of sleeve interior bar 32.
In the present invention, the outer surface of sleeve interior bar 32 is contacted with the inner surface of sleeve housing 33, and contact surface is Mohs
Taper.
For the structure of sleeve support frame 34 as shown in Fig. 3, Fig. 3 A, Fig. 3 B, Fig. 3 C, Fig. 3 D, sleeve support frame 34 is equipped with XA
The top of transverse slat 34A, XA transverse slat 34A is equipped with the XA linking arm fixed with the ZA linking arm 36B of sleeve support frame connector 36
34B；The lower section of XA transverse slat 34A is equipped with XB linking arm 34C, XB linking arm 34C and wears equipped with the catch bar for sleeve cylinder 54
The XA through-hole 34D crossed, the catch bar across the sleeve cylinder 54 of XA through-hole 34D are connected on sleeve cylinder push-rod 55；XA transverse slat
The first connection side 53A of sleeve support frame locating part 53 is fixed on one end of 34A, the second of sleeve support frame locating part 53 connects
Edge fit 53B is mounted on Elbow drill bracket 52；The other end of XA transverse slat 34A is worn equipped with the VA shaft part 32A for sleeve interior bar 32
The XB through-hole 34E crossed.Outside at the XB through-hole 34E is equipped with the UA linking arm for installing sleeve cylinder push-rod 55 on one side
The XA mounting surface 34F of 55B；External another side at the XB through-hole 34E is equipped with the UB for installing sleeve cylinder push-rod 55 and connects
Connect the XB mounting surface of arm 55C.
For the structure of sleeve housing bracket 35 as shown in Fig. 3, Fig. 3 A, Fig. 3 B, sleeve housing bracket 35 is equipped with YA annulus
YA linking arm 35B and YB linking arm 35C is symmetrically arranged on 35A, the YA annulus 35A；YA linking arm 35B, which is equipped with, is used for first
The YA sliding slot 35D that sleeve axis 56C is passed through；YB linking arm 35C is equipped with the YB sliding slot 35E passed through for the second sleeve axis 56D；YA
The center of annulus 35A is the YA through-hole 35F passed through for the WA set rod segment 33C of sleeve housing 33, across the sleeve of YA through-hole 35F
The WA top panel 33A of housing 33 is mounted in the YA countersunk head chamber 35G of YA annulus 35A.
In the present invention, respectively arranged two sliding slots on two linking arms of sleeve housing bracket 35, and sliding slot and water
It is flat to be at certain angle of inclination.Generally tilt angle is 1 degree~5 degree.
Sleeve supports the structure of frame connector 36 as shown in Fig. 3, Fig. 3 A, Fig. 3 B, and sleeve support frame connector 36 is equipped with
It is two ZA linking arms 36B disposed in parallel below ZA transverse slat 36A, ZA transverse slat 36A；ZA linking arm 36B and sleeve support frame
34 XA linking arm 34B is fixed by screw.One end of ZA transverse slat 36A is fixed with the first vertical cylinder 20, and ZA transverse slat 36A's is another
One end is fixed with the second vertical cylinder 37.
For the structure of Z axis lead screw 51 as shown in Fig. 3, Fig. 3 A, Fig. 3 B, Fig. 3 F, Z axis lead screw 51 is equipped with Z axis whirlpool from top to bottom
Take turns 13, Z axis axle sleeve 13C, Z axis bearing 13B, Z axis feed screw nut 22；Z axis turbine 13 is located at the upper end of Z axis lead screw 51, and and Z axis
The movement of Z axis lead screw 51 is realized in the cooperation of scroll bar 14；Z axis axle sleeve 13C is arranged between Z axis turbine 13 and Z axis bearing 13B, Z axis axis
13C is covered for preventing when Z axis scroll bar 14 drives Z axis turbine 13 to move, and Z axis bearing 13B is not moved；Z axis bearing 13B is mounted on
In the bearing hole of Z axis bearing block 13A, Z axis bearing block 13A is fixed on (such as Fig. 2 on the AB connection panel 23B of Z axis lead screw bracket 23
It is shown)；Z axis feed screw nut 22 is socketed on Z axis lead screw 51, the annulus end 21B of Z axis feed screw nut 22 and limit sliding sleeve bracket 21
It is fixed on the second mounting plate 52D of Elbow drill bracket 52.
For the structure of Elbow drill bracket 52 as shown in Fig. 3, Fig. 3 A, Fig. 3 B, Fig. 3 F, Elbow drill bracket 52 is equipped with the first sliding rail
Body 52A, the second sliding rail body 52B, the first mounting plate 52C and the second mounting plate 52D；Second mounting plate 52D, which is equipped with, is used for Z axis silk
The lead screw through-hole 52E that 51 lower end of thick stick passes through；AB of the first sliding rail body 52A on the open end of position limiting slide block bracket 17 is recessed
Slot 17A4 and AC groove 17A5 realizes position limiting slide block by the cooperation of AB groove 17A4, AC groove 17A5 and the first sliding rail body 52A
Movement of the bracket 17 on the first sliding rail body 52A；Second connection side of the second sliding rail body 52B for sleeve support frame locating part 53
53B is passed through, and under the cooperation of Z axis lead screw 50 and Z axis feed screw nut 22, on the one hand realizes Elbow drill bracket 52 in sleeve support frame
It is moved on second connection side 53B of locating part 53, on the other hand realizes movement of the Z axis sliding block 38 in Z axis slide rail 50；First peace
Z axis sliding block 38 is fixedly installed on loading board 52C；Z axis feed screw nut 22 is fixedly installed on second mounting plate 52D.
For the structure of sleeve support frame locating part 53 as shown in Fig. 3, Fig. 3 A, Fig. 3 B, sleeve support frame locating part 53 is triangle
Shape, the first connection side 53A of sleeve support frame locating part 53 and one end of the XA transverse slat 34A of sleeve support frame 34 are fixed, are inserted
Second connection side 53B of set support frame locating part 53 is mounted on Elbow drill bracket 52.
As shown in Fig. 3, Fig. 3 A, Fig. 3 B, Fig. 3 E, sleeve cylinder push-rod 55 connects the structure of sleeve cylinder push-rod 55 equipped with UA
Fishplate bar 55A, UA connecting plate 55A is equipped with UA linking arm 55B and UB linking arm 55C；The end of UA linking arm 55B is equipped with for the
The UA through-hole 55D that one sleeve axis 56C is passed through；The end of UB linking arm 55C is equipped with the UB through-hole passed through for the second sleeve axis 56D
55E.UA connecting plate 55A is equipped with the UC through-hole 55F passed through for the catch bar of sleeve cylinder 54.
In the present invention, sleeve cylinder push-rod 55 realizes sleeve support frame 34 in X-axis side under the driving of sleeve cylinder 54
Upward movement.
In drilling execution part of the invention, Z axis feed screw nut 22 is connect with Z axis lead screw 51,22 mistake of Z axis feed screw nut
It limits 21 inner hole of sliding sleeve bracket and is connected with it, and two parts are connected on Elbow drill bracket 52, limit sliding sleeve 15 is placed on elbow
It bores on 18 and is connected with limit sliding sleeve bracket 21, position limiting slide block bracket 17 and Elbow drill bracket 52 are connected, the first vertical cylinder 20
The two sides of position limiting slide block bracket 17, the first vertical cylinder 20 and the second vertical cylinder are fixed on the upper end of the second vertical cylinder 37
37 lower end is fixed on the two sides of sleeve support frame connector 36, and sleeve supports frame connector 36 and sleeve support frame 34 to be connected,
Sleeve interior bar 32 is threadedly coupled with sleeve support frame 34, and sleeve support frame locating part 53 is located in the sliding slot of Elbow drill bracket 52 simultaneously
It is connected with sleeve support frame 34, sleeve cylinder 54 and sleeve support frame 34 are connected, and sleeve cylinder 54 and sleeve cylinder push-rod 55 are solid
Even, the front end of sleeve cylinder push-rod 55 is located in the sliding slot of sleeve support frame 34, the first sleeve sliding block 56A and the second sleeve sliding block
56B and sleeve cylinder push-rod 55 are connected, and sleeve sliding block is located in the sliding slot of sleeve housing bracket 35, and 33 upper end of sleeve housing is nested
In in the groove of sleeve housing bracket 35, drill bit 19 is threadedly coupled with Elbow drill 18.
(3) pose adjustment part
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 1 D, Fig. 1 E, pose adjustment part includes Y-axis unit, Z axis list
Member, RX axle unit and RY axle unit.In the present invention, Attitude control includes linear motion and rotary motion.
The first kind is linear motion, and Y-axis driving motor 4 and Z axis driving motor 10 are provided respectively along two sides of Y-axis and Z axis
To linear motion；In addition, punching device of the present invention can be placed on different motion platforms, straight line fortune along the x axis is generated
It is dynamic；
Second class is rotary motion, and RX axis driving motor 29 and RY axis driving motor 7 are provided respectively around X-axis and around Y-axis two
The rotary motion in a direction.
Y-axis unit
The structure of Y-axis unit as shown in Fig. 4, Fig. 4 A, Fig. 4 B, Y-axis unit include Y-axis driving wheel 2, Y-axis driven wheel 31,
First synchronous belt 3, Y-axis driving motor 4, Y-axis lead screw 57, the first sliding rail of Y-axis 28, the second sliding rail of Y-axis 58, the first sliding block of Y-axis 43,
The second sliding block of Y-axis 45, Y-axis feed screw nut 44, Y-axis driving motor bracket 30, the first slider bracket of Y-axis 46, Y-axis the second sliding block branch
Frame 59, Y-axis screw connector 60.
It is fixed with the second sliding rail of Y-axis 58 on the JB connecting plate 59B of the second slider bracket of Y-axis 59, is covered on the second sliding rail of Y-axis 58
It is connected to the second sliding block of Y-axis 45, the second sliding block of Y-axis 45 is fixed on the FB connecting plate 46B of the first slider bracket of Y-axis 46；Y-axis second
It is fixed with the first sliding rail of Y-axis 28 on the JC connecting plate 59C of slider bracket 59, the first sliding block of Y-axis is socketed on the first sliding rail of Y-axis 28
43, the first sliding block of Y-axis 43 is fixed on the FB connecting plate 46B of the first slider bracket of Y-axis 46.
Y-axis driving motor 4 is fixed on the Y-axis driving motor connecting plate 30A of Y-axis driving motor bracket 30；Y-axis driving electricity
Y-axis bearing block 57B is fixed on the Y-axis lead screw connecting plate 30B of machine support 30；Y-axis bearing is installed on Y-axis bearing block 57B
57A；Y-axis bearing 57A and Y-axis feed screw nut 44 are socketed on Y-axis lead screw 57.Y-axis feed screw nut 44 is fixed on the connection of Y-axis nut
On the FC connecting plate 60A of part 60, the FB that the FD connecting plate 60B of Y-axis screw connector 60 is fixed on the first slider bracket of Y-axis 46 connects
On fishplate bar 46B.
The output shaft of Y-axis driving motor 4 passes through the YA on the Y-axis driving motor connecting plate 30A of Y-axis driving motor bracket 30
It is socketed with Y-axis driving wheel 2 after through-hole 30A1, is socketed with the first synchronous belt 3 on Y-axis driving wheel 2 and Y-axis driven wheel 31；Y-axis lead screw
57 one end sequentially passes through on the Y-axis lead screw connecting plate 30B of Y-axis bearing block 57B, Y-axis bearing 57A, Y-axis driving motor bracket 30
YB through-hole 30B1 after upper Y-axis driven wheel 31 is fixedly mounted, the other end of Y-axis lead screw 57 sequentially passes through Y-axis feed screw nut 44, Y
FC through-hole 60C on the FC connecting plate 60A of axis screw connector 60.
In the present invention, Y-axis lead screw 57 moves under the driving of Y-axis driving motor 4, while Y-axis screw connector of taking
60 is servo-actuated, since Y-axis screw connector 60 is fixed on the FB connecting plate 46B of the first slider bracket of Y-axis 46, Y-axis first
Slider bracket 46 is moved along the first sliding block of Y-axis 43, the second sliding block of Y-axis 45.
Z axis unit
For the structure of Z axis unit as shown in Fig. 5, Fig. 5 A, Z axis unit includes Z axis driving motor 10, second shaft coupling 11, Z
Axis driving motor bracket 12, Z axis worm gear 13, Z axis worm screw 14, Z axis feed screw nut 22, Z axis lead screw bracket 23, Z axis support plate 24,
Z axis sliding block 38, Z axis slide rail 50, Z axis lead screw 51.
Z axis driving motor 10 is fixed on the CA connecting plate 12A of Z axis driving motor bracket 12, Z axis driving motor bracket 12
CB connecting plate 12B be fixed on the BA connecting plate 24A of Z axis support plate 24；Is socketed on the output shaft of Z axis driving motor 10
The other end of one end of two shaft couplings 11, second shaft coupling 11 is connect with one end of Z axis worm screw 14；Z axis first bearing 10A and Z
Axis second bearing 10B is socketed on Z axis worm screw 14, and is placed in the cylindrical cavity of Z axis bearing block 10C, and Z axis bearing block 10C is fixed on Z
On the BA connecting plate 24A of axis support plate 24；Z axis sliding block 38 is socketed in Z axis slide rail 50, and Z axis sliding block 38 is fixed on Elbow drill branch
On first mounting plate 52C of frame 52, Z axis slide rail 50 is fixed on the BB connecting plate 24B of Z axis support plate 24；Z axis lead screw 51 it is upper
End is connect with Z axis worm gear 13.
In the present invention, Z axis worm screw 14 moves under the driving of Z axis driving motor 10, while driving Z axis worm gear 13 and Z
Axial filament thick stick 51 moves, and since 22 one side of Z axis feed screw nut is socketed on Z axis lead screw 51, is on the other hand fixed on Elbow drill branch
On second mounting plate 52D of frame 52, therefore Z axis feed screw nut 22 takes and limits Z axis sliding block 38 while sliding sleeve bracket 21 is servo-actuated
It is moved along Z axis slide rail 50.
RX axle unit
For the structure of RX axle unit as shown in Fig. 6, Fig. 6 A, RX axle unit includes RX axis worm screw 6, first shaft coupling 5, RX axis
Driving motor bracket 27, RX axis driving motor 29, RX axis worm gear 42, RX axis shaft 47.
RX axis driving motor 29 is fixed on the DA connecting plate 27A of RX axis driving motor bracket 27, RX axis driving motor branch
The DB connecting plate 27B of frame 27 is fixed on the FA connecting plate 46A of the first slider bracket of Y-axis 46；The output of RX axis driving motor 29
One end of first shaft coupling 5 is socketed on axis, the other end of first shaft coupling 5 is connect with one end of RX axis worm screw 6；RX axis first
Bearing 29B is socketed on RX axis worm screw 6, and is placed in the cylindrical cavity of RX bearing housing 29A, and RX bearing housing 29A is fixed on Y-axis
On the FA connecting plate 46A of one slider bracket 46；RX axis connection plate is fixed on the FB connecting plate 46B of the first slider bracket of Y-axis 46
RX axis second bearing 47A, and RX axis second bearing 47A are installed in the RX axle bearing through-hole 47C1 of 47C, RX axis connection plate 47C
It is socketed in RX axis shaft 47 with RX axis spindle nut 47B.RX axis spindle nut 47B is fixed on RY axis driving motor bracket 26
On EA connecting plate 26B, and one end of RX axis spindle nut 47B passes through EG through-hole 26B2.One end of RX axis shaft 47 is placed in RX axis
In the RX axle bearing through-hole 47C1 (and RX axis second bearing 47A is also placed in RX axle bearing through-hole 47C1) of connecting plate 47C, RX axis
The other end of shaft 47 passes through RX axis second bearing 47A and RX axis spindle nut 47B.
One end that RY axial filament thick stick connecting plate 42C, RY axis feed screw nut 61 is fixed on RX axis worm gear 42 passes through RY axial filament thick stick
After through-hole on connecting plate 42C, set connects RY axial filament thick stick bearing 42B, then passes through the EA connection of RY axis driving motor bracket 26
After EF through-hole 26B1 on plate 26B, it is connected on RY axis driven wheel 25.
In the present invention, RX axis driving motor 29 drives RX axis worm screw 6 to move, and matches in RX axis worm screw 6 and RX axis worm gear 42
Under conjunction, so that RY axis feed screw nut 61 moves on RY axial filament thick stick 41, since RX axis worm gear 42 is fixed on RY axis driving motor branch
On frame 26, therefore RY axis driving motor bracket 26 is servo-actuated.
RY axle unit
For the structure of RY axle unit as shown in Fig. 7, Fig. 7 A, Fig. 7 B, RY axle unit includes that RY axis driving motor 7, second is same
Walk band 8, RY axis driving wheel 9, RY axis driven wheel 25, RY axis driving motor bracket 26, RY upper shaft sliding block 39, RY upper shaft sliding block
Connecting plate 39A, RY upper shaft 40, RY lower rotary shaft 49, RY axial filament thick stick 41, RY axis feed screw nut 61.
RY axis driving motor 7 is fixed on the EB support arm 26A of RY axis driving motor bracket 26, RY axis driving motor 7 it is defeated
RY axis driving wheel 9 is fixed on shaft；The second synchronous belt 8 is socketed between RY axis driving wheel 9 and RY axis driven wheel 25；RY axis from
Driving wheel 25 is fixed on RY axis feed screw nut 61；RY axis feed screw nut 61 is socketed on RY axial filament thick stick 41；The end of RY axial filament thick stick 41
Portion is connect by RY upper shaft 40 with one end of RY upper shaft slider connecting plate 39A, and RY upper shaft slider connecting plate 39A's is another
End is fixed with RY upper shaft sliding block 39；The end of the EC support arm 26C and ED support arm 26D of RY axis driving motor bracket 26 is connected with RY
Lower rotary shaft 49 realizes the lower end of RY axis driving motor bracket 26 and the EA support arm 48H of front support frame 48 by RY lower rotary shaft 49
Connection.
In the present invention, the driving of RY axis driving wheel 9, the second synchronous belt 8 and RY axis driven wheel 25 in RY axis driving motor 7
Under, drive RY axis feed screw nut 61 to move on RY axial filament thick stick 41.
Drill bit 19 in the present invention can be drilling cutter, or other purposes tools, such as grinding.
Bottom plate 1 in the present invention can connect on various moving cells.
Claims (4)
1. a kind of multiple degrees of freedom punching device, it is characterised in that: include pose adjustment part, drilling execution part and support portion
Point；
The second sliding rail rack of Y-axis (59), Y-axis driving motor bracket (30) are fixed on bottom plate (1), Y-axis driving motor (4) and Y-axis
Driving motor bracket (30) is connected, and Y-axis driving wheel (2) and Y-axis driving motor (4) are connected, Y-axis lead screw (57) and Y-axis driving electricity
Machine support (30) connection, Y-axis lead screw (57) one end and Y-axis driven wheel (31) are connected, Y-axis driving wheel (2) and Y-axis driven wheel (31)
It is engaged simultaneously with the first synchronous belt (3), the second sliding rail of Y-axis (58), the first sliding rail of Y-axis (28) are fixed on the second sliding rail rack of Y-axis
(59), the first sliding block of Y-axis (43), Y-axis feed screw nut (44), the second sliding block of Y-axis (45) are fixed on the first slider bracket of Y-axis
(46), the first sliding block of Y-axis (43), the second sliding block of Y-axis (45) are respectively with the second sliding rail of Y-axis (58), and the first sliding rail of Y-axis (28) is even
It connects, Y-axis feed screw nut (44) is connect with Y-axis lead screw (57), and RX axis shaft (47) one end and RY axis driving motor bracket (26) are solid
Even, one end is connect with Y-axis slider bracket (46) by bearing, and RY axis feed screw nut (61) passes through bearing and RY axis driving motor branch
Frame (26) connection, RY axis feed screw nut (61) be located at the inner hole of RY axis driven wheel (25) and with its be connected, RX axis worm gear (42) and
RY axis driving motor bracket (26) is connected, and RX axis driving motor bracket (27) and Y-axis slider bracket (46) are connected, RX axis driving electricity
Machine (29) and RX axis driving motor bracket (27) are connected, and RX axis worm screw (6) is connect by bearing with Y-axis slider bracket (46), RX
Axis worm screw (6) and RX axis driving motor (29) are connected by first shaft coupling (5), and RX axis worm screw (6) nibbles with RX axis worm gear (42)
It closes, RY axial filament thick stick (41) is connect with RY axis feed screw nut (61), and RY axial filament thick stick (41) passes through RY upper shaft (40) and RY upper shaft
Sliding block (39) connection, RY upper shaft sliding block (39) are located in the sliding slot of front support frame (48), front support frame (48) and RY axis
Driving motor bracket (26) is connected by RY lower rotary shaft (49), and Z axis support plate (24) and front support frame (48) are connected, and Z axis is sliding
Rail (50) and Z axis support plate (24) are connected, and Z axis driving motor bracket (12) and Z axis support plate (24) are connected, Z axis driving motor
(10) it is connected with Z axis driving motor bracket (12), Z axis worm screw (14) is connect by bearing with Z axis support plate (24), Z axis lead screw
Bracket (23) and Z axis support plate (24) are connected, and Z axis worm gear (13) is engaged with Z axis worm screw (14), and Z axis lead screw (51) passes through bearing
It is connect with Z axis lead screw bracket (23), Z axis worm gear (13) and Z axis lead screw (51) are connected, and Z axis sliding block (38) and Z axis slide rail (50) are even
It connects, Z axis sliding block (38) and Elbow drill bracket (52) are connected；
Z axis feed screw nut (22) is connect with Z axis lead screw (51), and Z axis feed screw nut (22) crosses limit sliding sleeve bracket (21) inner hole simultaneously
Be connected with it, and two parts are connected on Elbow drill bracket (52), limit sliding sleeve (15) be placed on Elbow drill (18) and with limit
Sliding sleeve bracket (21) is connected, and position limiting slide block (16) is placed on Elbow drill (18) and is connected with position limiting slide block bracket (17), and limit is slided
Block bracket (17) and Elbow drill bracket (52) are connected, and the first vertical cylinder (20) and the second vertical cylinder (37) upper end are fixed on limit
The two sides of position slider bracket (17), the first vertical cylinder (20) and the second vertical cylinder (37) lower end are fixed on sleeve support frame company
The two sides of fitting (36), sleeve support frame connector (36) and sleeve support frame (34) to be connected, sleeve interior bar (32) and sleeve branch
Support (34) is threadedly coupled, sleeve support frame locating part (53) be located at Elbow drill bracket (52) sliding slot it is interior and with sleeve support frame
(34) it being connected, sleeve cylinder (54) and sleeve support frame (34) are connected, and sleeve cylinder (54) and sleeve cylinder push-rod (55) are connected,
Sleeve cylinder push-rod (55) front end is located in the sliding slot of sleeve support frame (34), sleeve sliding block (56) and sleeve cylinder push-rod (55)
It is connected, sleeve sliding block (56) is located in the sliding slot of sleeve housing bracket (35), and sleeve housing (33) upper end is nested in sleeve housing
In the groove of bracket (35), drill bit (19) is threadedly coupled with Elbow drill (18).
2. a kind of multiple degrees of freedom punching device according to claim 1, it is characterised in that: sleeve interior bar (32) outer surface with
The contact of sleeve housing (33) inner surface, and two sides is Morse's taper.
3. a kind of multiple degrees of freedom punching device according to claim 1, it is characterised in that: sleeve housing bracket (35) setting
There are two sliding slots, and sliding slot and level are at an angle.
4. a kind of multiple degrees of freedom punching device according to claim 1, it is characterised in that: Attitude control includes straight
Line movement and rotary motion；
The first kind is linear motion, and Y-axis driving motor (4) and Z axis driving motor (10) are provided respectively along two sides of Y-axis and Z axis
To linear motion；
Second class is rotary motion, and RX axis driving motor (29) and RY axis driving motor (7) are provided respectively around X-axis and around Y-axis two
The rotary motion in a direction.
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| CN201910197860.1A CN109877602B (en) | 2019-03-15 | 2019-03-15 | Multi-degree-of-freedom hole making device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910197860.1A CN109877602B (en) | 2019-03-15 | 2019-03-15 | Multi-degree-of-freedom hole making device |
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| Publication Number | Publication Date |
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| CN109877602A true CN109877602A (en) | 2019-06-14 |
| CN109877602B CN109877602B (en) | 2020-03-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390225A (en) * | 2020-02-18 | 2020-07-10 | 北京航空航天大学 | Normal positioning and locking hole making system for aircraft skin |
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|---|---|
| CN109877602B (en) | 2020-03-17 |
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Inventor after: Zhang Deyuan Inventor after: Chen Xuemei Inventor after: Chen Aimin Inventor after: Li Shaomin Inventor after: Geng Daxi Inventor after: Jiang Xinggang Inventor after: Teng Yunda Inventor after: Li Jun Inventor after: Zhang Mingliang Inventor after: Tang Hui Inventor after: He Fengtao Inventor before: Zhang Deyuan Inventor before: He Fengtao Inventor before: Chen Xuemei Inventor before: Chen Aimin Inventor before: Li Shaomin Inventor before: Geng Daxi Inventor before: Jiang Xinggang Inventor before: Lu Zhenghui Inventor before: Teng Yunlong Inventor before: Li Jun Inventor before: Zhang Mingliang Inventor before: Tang Hui |