CN109877602B

CN109877602B - Multi-degree-of-freedom hole making device

Info

Publication number: CN109877602B
Application number: CN201910197860.1A
Authority: CN
Inventors: 张德远; 李少敏; 耿大喜; 姜兴刚; 路正惠; 滕云龙; 李军; 张明亮; 唐辉; 何凤涛; 陈雪梅; 陈爱民
Original assignee: Chengdu Aircraft Industrial Group Co Ltd; Beihang University
Current assignee: Chengdu Aircraft Industrial Group Co Ltd; Beihang University
Priority date: 2019-03-15
Filing date: 2019-03-15
Publication date: 2020-03-17
Anticipated expiration: 2039-03-15
Also published as: CN109877602A

Abstract

The invention discloses a multi-degree-of-freedom hole making device, which solves the technical problem of making holes on complex surfaces. The multi-degree-of-freedom drilling device comprises an attitude adjusting part, a drilling executing part and a supporting part, wherein each shaft of the multi-degree-of-freedom drilling device is adjusted according to a position to be machined, so that the drilling executing part reaches a preset position, and drilling is completed through step-by-step actions. On one hand, the device realizes independent control of respective degrees of freedom through a multi-degree-of-freedom structure connected in parallel; on the other hand, the posture adjustment of the hole making execution part is realized by adopting the design of fixing the tail end and suspending the front end; the compact structure is realized by using the worm gear.

Description

Multi-degree-of-freedom hole making device

Technical Field

The invention belongs to the technical field of multi-degree-of-freedom automatic hole making equipment, and particularly relates to a multi-degree-of-freedom hole making device.

Background

Due to the improvement of processing requirements, the development of modern machining technology and equipment shows the trends of high precision, intellectualization, compound type and the like.

At present, a common drilling machine generally carries out an XYZ triaxial processing mode, but with the improvement of the impurity degree of a product, particularly the drilling requirements of a complex surface and a narrow space, drilling equipment is required to have more degrees of freedom and higher integration level. Meanwhile, the existing processing equipment has a processing blind area, the workpiece position needs to be repositioned for adjusting, the processing precision is ensured, and when the workpiece position is not easy to adjust, the contradiction between the precision guarantee and the processing conditions is more prominent.

The multi-degree-of-freedom hole making device has the advantages of complex structure, large volume, difficulty in adapting to the current manufacturing requirement, high design integration level and flexibility in operation due to the adoption of a fixed mode, and has wide requirements.

Disclosure of Invention

The invention relates to a multi-degree-of-freedom drilling device, which aims to solve the technical problem of drilling on a complex surface; on the other hand, the posture adjustment of the hole making execution part is realized by adopting the design of fixing the tail end and suspending the front end; the compact structure is realized by using the worm gear.

The invention relates to a multi-degree-of-freedom hole making device, which comprises an attitude adjusting part, a hole making executing part and a supporting part, wherein the attitude adjusting part is used for adjusting the attitude of a hole making machine;

a Y-axis second slide rail bracket (59) and a Y-axis driving motor bracket (30) are fixedly connected to the bottom plate (1), the Y-axis driving motor (4) is fixedly connected with the Y-axis driving motor bracket (30), a Y-axis driving wheel (2) is fixedly connected with the Y-axis driving motor (4), a Y-axis lead screw (57) is connected with the Y-axis driving motor bracket (30), one end of the Y-axis lead screw (57) is fixedly connected with a Y-axis driven wheel (31), the Y-axis driving wheel (2) and the Y-axis driven wheel (31) are simultaneously meshed with a first synchronous belt (3), a Y-axis second slide rail (58) and a Y-axis first slide rail (28) are fixedly connected to the Y-axis second slide rail bracket (59), a Y-axis first slide block (43), a Y-axis lead screw nut (44) and a Y-axis second slide block (45) are fixedly connected to a Y-axis first slide block bracket (46), the Y-axis first slide block (43) and the Y-axis second slide, the Y-axis first sliding rail (28) is connected, a Y-axis lead screw nut (44) is connected with a Y-axis lead screw (57), one end of an RX-axis rotating shaft (47) is fixedly connected with a RY-axis driving motor support (26), one end of the RX-axis rotating shaft is connected with the Y-axis first sliding block support (46) through a bearing, the RY-axis lead screw nut (61) is connected with the RY-axis driving motor support (26) through a bearing, the RY-axis lead screw nut (61) is positioned in an inner hole of a RY-axis driven wheel (25) and fixedly connected with the RY-axis driven wheel, an RX-axis worm wheel (42) is fixedly connected with the RY-axis driving motor support (26), the RX-axis driving motor support (27) is fixedly connected with the Y-axis first sliding block support (46), the RX-axis driving motor (29) is fixedly connected with the RX-axis driving motor support (27), the RX-axis worm (6) is connected with the Y-axis first sliding block support (46) through a bearing, and the worm, an RX-axis worm (6) is meshed with an RX-axis worm gear (42), a RY-axis lead screw (41) is connected with a RY-axis lead screw nut (61), the RY-axis lead screw (41) is connected with a RY upper rotating shaft sliding block (39) through a RY upper rotating shaft (40), the RY upper rotating shaft sliding block (39) is positioned in a sliding groove of a front end supporting frame (48), the front end supporting frame (48) is connected with a RY-axis driving motor bracket (26) through a RY lower rotating shaft (49), a Z-axis supporting plate (24) is fixedly connected with the front end supporting frame (48), a Z-axis sliding rail (50) is fixedly connected with a Z-axis supporting plate (24), a Z-axis driving motor bracket (12) is fixedly connected with the Z-axis supporting plate (24), a Z-axis driving motor (10) is fixedly connected with a Z-axis driving motor bracket (12), a Z-axis worm (14) is connected with the Z-axis supporting plate (24) through a bearing, the Z-axis lead screw bracket (23) is fixedly connected with the Z-axis supporting plate (, the Z-axis lead screw (51) is connected with the Z-axis lead screw bracket (23) through a bearing, the Z-axis worm gear (13) is fixedly connected with the Z-axis lead screw (51), the Z-axis sliding block (38) is connected with the Z-axis sliding rail (50), and the Z-axis sliding block (38) is fixedly connected with the elbow drill bracket (52);

a Z-axis lead screw nut (22) is connected with a Z-axis lead screw (51), the Z-axis lead screw nut (22) passes through an inner hole of a limiting sliding sleeve support (21) and is fixedly connected with the inner hole, two parts are fixedly connected on an elbow drill support (52), a limiting sliding sleeve (15) is sleeved on the elbow drill (18) and is fixedly connected with the limiting sliding sleeve support (21), a limiting sliding block (16) is sleeved on the elbow drill (18) and is fixedly connected with a limiting sliding block support (17), the limiting sliding block support (17) is fixedly connected with the elbow drill support (52), the upper ends of a first vertical cylinder (20) and a second vertical cylinder (37) are fixedly connected with two sides of the limiting sliding block support (17), the lower ends of the first vertical cylinder (20) and the second vertical cylinder (37) are fixedly connected with two sides of a plug bush support frame connecting piece (36), the plug bush support frame connecting piece (36) is fixedly connected with a plug bush support frame (34), and a plug bush inner rod (32) is in threaded connection with, the insert sleeve support frame limiting piece (53) is located in a sliding groove of the elbow drill support frame (52) and fixedly connected with the insert sleeve support frame (34), an insert sleeve cylinder (54) is fixedly connected with an insert sleeve cylinder push rod (55), the front end of the insert sleeve cylinder push rod (55) is located in the sliding groove of the insert sleeve support frame (34), an insert sleeve sliding block (56) is fixedly connected with the insert sleeve cylinder push rod (55), the insert sleeve sliding block (56) is located in the sliding groove of the insert sleeve outer sleeve support frame (35), the upper end of an insert sleeve outer sleeve (33) is nested in a groove of the insert sleeve outer sleeve support frame (35), and the drill bit (19) is in threaded connection with the elbow drill (18).

The multi-degree-of-freedom drilling device provided by the invention comprises the following working steps:

firstly, starting each driving motor, and adjusting the position of the device to a proper position;

secondly, the two vertical cylinders act, the plug bush support frame falls, the plug bush outer sleeve falls into a hole in the drill jig plate, the plug bush cylinders act, the plug bush outer sleeve moves upwards along the plug bush inner rod, and the plug bush outer sleeve expands to be in embracing fit with the inner wall of the hole of the drill jig plate;

and thirdly, stopping gas supply of the two vertical cylinders, starting the elbow drill, rotating the drill bit, starting the Z-axis driving motor, and enabling the drill bit to move downwards to contact with a workpiece to complete hole making.

The device attitude adjustment motions include the following two categories:

the first type is linear motion, and the Y-axis driving motor and the Z-axis driving motor respectively provide linear motion of the device along the Y-axis and the Z-axis; in addition, the device can be arranged on different motion platforms to generate linear motion along the X-axis direction;

the second type is rotary motion, and the RX shaft driving motor and the RY shaft driving motor respectively provide rotary motion of the device around the X axis and the Y axis in two directions.

Compared with the prior art, the invention has the following beneficial effects:

the invention realizes independent control of respective degrees of freedom through the multi-degree-of-freedom structure arranged in parallel; the overall attitude adjustment of the execution device is realized by adopting a design scheme that the tail end is fixed and the front end is suspended; by using a worm gear and a worm and the like, a compact device structure is realized.

Drawings

FIG. 1 is a block diagram of a multiple degree of freedom drilling apparatus of the present invention.

FIG. 1A is a view showing another perspective of the multiple degree of freedom drilling apparatus of the present invention.

Fig. 1B is a front view of fig. 1. Fig. 1C is a rear view of fig. 2.

Fig. 1D is a left side view of fig. 1. Fig. 1E is a right side view of fig. 2.

FIG. 2 is a structural view of a supporting portion of the multi-degree-of-freedom drilling apparatus of the present invention.

Fig. 2A is another perspective view structural view of a support portion of the multiple degree of freedom drilling device of the present invention.

Fig. 2B is a structural view of the base plate of the present invention. Fig. 2C is a block diagram of the Z-axis drive motor mount of the present invention.

Fig. 2D is a block diagram of the stop block bracket of the present invention.

Fig. 2E is another perspective view of the stop block bracket of the present invention.

FIG. 2F is a block diagram of the Z-axis support plate of the present invention.

Fig. 2G is a structural view of the RY shaft drive motor bracket of the present invention.

Fig. 2H is another perspective view structural view of the RY axis drive motor bracket of the present invention.

Fig. 2I is a structural view of the RX axis driving motor bracket of the present invention.

Fig. 2J is a structural view of a Y-axis drive motor bracket of the present invention.

Fig. 2K is a structural view of the first Y-axis slider bracket of the present invention.

Fig. 2L is a structural view of a second Y-axis slider bracket of the present invention.

Fig. 3 is a structural view of a drilling execution part of the multi-degree-of-freedom drilling apparatus of the present invention.

Fig. 3A is another perspective view structural view of a hole making performing part of the multiple degree of freedom hole making apparatus of the present invention.

Fig. 3B is an exploded view of a drilling actuator of the multiple degree of freedom drilling apparatus of the present invention.

FIG. 3C is a block diagram of a cylinder push assembly in a drilling implement in accordance with the present invention.

Fig. 3D is a view showing another perspective structure of the cylinder push assembly in the drilling performing part according to the present invention.

Fig. 3E is a diagram of the construction of the sleeve cylinder push rod of the present invention.

Fig. 3F is a block diagram of the insert sleeve stop assembly in the drilling implement of the present invention.

Fig. 4 is a structural view of the Y-axis unit of the present invention. Fig. 4A is another perspective view structural view of the Y-axis unit of the present invention.

Fig. 4B is an exploded structural view of the Y-axis unit of the present invention. FIG. 5 is a block diagram of the Z-axis unit of the present invention.

Fig. 5A is an exploded structural view of the Z-axis unit of the present invention. Fig. 6 is a structural view of the RX axis unit of the present invention.

Fig. 6A is an exploded structural view of the RX axis unit of the present invention. Fig. 7 is a structural view of the RY shaft unit of the present invention.

Fig. 7A is an exploded structural view of the RY shaft unit of the present invention.

Fig. 7B is a sectional view of the power transmitting portion of the RY shaft unit of the invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1, fig. 1A, fig. 1B, fig. 1C, fig. 1D and fig. 1E, the present invention designs a multiple degree of freedom hole making device, which is suitable for processing holes with complicated surfaces, narrow spaces and processing blind areas. The multi-degree-of-freedom hole making device is divided into a supporting part, a pose adjusting part and a hole making executing part. In the present invention, the RX axis represents a shaft rotatable in the X axis direction, and the RY axis represents a shaft rotatable in the Y axis direction.

(I) a support part

Referring to fig. 1, 1A, 1B, 1C, 1D, 1E, 2A, and 2B, the rear panel 1A of the base plate 1 of the support portion is provided with an AA threaded hole 1B for fixing a JA connection plate 59A of the Y-axis second rail bracket 59 on the one hand, and an AB threaded hole 1C for fixing a Y-axis motor base 30C of the Y-axis drive motor bracket 30 on the other hand; an opening cavity 1D is formed in the middle of the bottom plate 1, and an opening of the opening cavity 1D is used for a hole making execution part to penetrate through. The base plate 1 designed by the invention is also provided with a plurality of threaded holes and a plurality of through holes so as to be fixed with other equipment.

Referring to fig. 1, 2A and 2C, the structural shape of the Z-axis driving motor bracket 12 is as shown in fig. 2C, and a CA connecting plate 12A and a CB connecting plate 12B are oppositely disposed on the Z-axis driving motor bracket 12; a CA through hole 12A1 for the output shaft of the Z-axis driving motor 10 to pass through is arranged on the CA connecting plate 12A, and the shell of the Z-axis driving motor 10 is fixed on the CA connecting plate 12A; the CB coupling plate 12B is fixed to the BA coupling panel 24A of the Z-axis support plate 24.

Referring to fig. 1, 1A, 1B, 1C, 2, and 2A, the Z-axis screw bar support 23 has an L-shaped configuration, the AA connection panel 23A of the Z-axis screw bar support 23 is fixed to the BB connection panel 24B of the Z-axis support plate 24, and the AB connection panel 23B of the Z-axis screw bar support 23 is provided with a Z-axis screw bar through hole 23B1 through which the Z-axis screw bar 51 passes.

Referring to fig. 1, 1A, 1B, 2 and 2A, the structural shape of the Z-axis support plate 24 is as shown in fig. 2F, and a BA connection panel 24A of the Z-axis support plate 24 is provided with a CB through hole 24A1 through which one end of the Z-axis worm 14 passes; a Z-axis screw bracket 23 and a Z-axis slide rail 50 are fixed to the other panel of the BB attachment panel 24B of the Z-axis support panel 24, and the Z-axis screw bracket 23 is located above the Z-axis slide rail 50.

Referring to fig. 1, 1A, 1B, 1C, 1D, 1E, 2 and 2A, the structural shape of the RY-axis drive motor bracket 26 is as shown in fig. 2G and 2H, and an EB bracket 26A, EA, a connecting plate 26B, EC bracket 26C and an ED bracket 26D are provided on the RY-axis drive motor bracket 26; an EE through hole 26A1 for the output shaft of the RX shaft driving motor 29 to pass through is arranged on the EB supporting arm 26A; an EF through hole 26B1 and an EG through hole 26B2 are formed in the EA connecting plate 26B, an EA countersunk cavity 26B3 is formed in the EF through hole 26B1, an EA convex plate 26B4 is arranged on one panel of the EA connecting plate 26B, and an RX shaft worm gear 42 is fixed on the EA convex plate 26B 4; the end part of the EC support arm 26C is provided with an EH through hole for mounting one end of the RY lower rotating shaft 49; the end of ED arm 26D is provided with an EI through hole for mounting the other end of RY lower shaft 49.

Referring to fig. 1, 2A and 2I, the RX axis driving motor bracket 27 has a structural shape as shown in fig. 2I, and the RX axis driving motor bracket 27 is relatively provided with a DA connection plate 27A and a DB connection plate 27B; the DA connecting plate 27A is provided with a DA through hole 27A1 for the output shaft of the RX shaft driving motor 29 to pass through, and the shell of the RX shaft driving motor 29 is fixed on the DA connecting plate 27A; the DB connecting plate 27B is fixed to the FA connecting plate 46A of the Y-axis first slider bracket 46.

Referring to fig. 1, 1A, 1B, 1C, 1D, 1E, 2 and 2A, the structural shape of the Y-axis drive motor bracket 30 is as shown in fig. 2J, and the Y-axis drive motor bracket 30 is provided with a Y-axis motor connection plate 30A, Y an axis screw connection plate 30B and a Y-axis motor base 30C; the Y-axis motor base 30C is fixed on the bottom plate 1; a YA through hole 30A1 for the output shaft of the Y-axis driving motor 4 to pass through is arranged on the Y-axis motor connecting plate 30A; the Y-axis screw connecting plate 30B is provided with a YB through hole 30B1 for one end of the Y-axis screw 57 to pass through, and one end of the YB through hole 30B1 is a YA countersunk cavity 30B2 for placing the Y-axis bearing 57A.

Referring to fig. 1, 1A, 1B, 1C, 1D, 1E, 2 and 2A, the structural shape of the Y-axis first slider bracket 46 is as shown in fig. 2K, and the Y-axis first slider bracket 46 is provided with an FA connection plate 46A and an FB connection plate 46B; an FA through hole 46A1 for the RY-axis worm 6 to pass through is arranged on the FA connecting plate 46A, and an FA countersunk cavity 46A2 is arranged at one end of the FA through hole 46A 1; the FB connecting plate 46B is provided with an FB through hole 46B1 through which the RY axis screw nut 61 passes.

Referring to fig. 1, 1A, 1B, 1C, 1D, 1E, 2 and 2A, the front end support bracket 48 has a structural shape as shown in fig. 2G and 2H, and an EA connecting post 48A, EB, a connecting post 48B, EC, a connecting post 48C, ED, a connecting post 48D, EA, a through hole 48E, EB, a through hole 48F, EC, a through hole 48G and an EA support arm 48H are provided on a panel of the front end support bracket 48; an ED through hole for the RY lower rotating shaft 49 to pass through is formed in the end part of the EA support arm 48H; EA connecting column 48A, EB connecting column 48B, EC connecting column 48C and ED connecting column 48D are fixed to one panel of BB connecting panel 24B of Z-axis supporting plate 24 by screws (Z-axis screw bracket 23 and Z-axis slide rail 50 are fixed to the other panel of BB connecting panel 24B of Z-axis supporting plate 24); the EA through hole 48E is used for penetrating through one end of the RY upper rotating shaft sliding block connecting plate 39A, and the other end of the RY upper rotating shaft sliding block connecting plate 39A is fixed on the RY upper rotating shaft sliding block 39; the EB through hole 48F and the EC through hole 48G are used for screws to pass through, and the screws passing through the EB through hole 48F and the EC through hole 48G are fixed to the RY upper spindle slide block 39.

Referring to fig. 1, 1A, 1B, 1C, 1D, 1E, 2 and 2A, the structural shape of the Y-axis second slide rail bracket 59 is as shown in fig. 2L, and the Y-axis second slide rail bracket 59 is provided with a JA connecting plate 59A, JB, a connecting plate 59B, JC, and a connecting plate 59C; through holes are respectively formed in the JA connecting plate 59A, JB connecting plate 59B and the JC connecting plate 59C; the JA connecting plate 59A is fixed on the bottom plate 1; a Y-axis second slide rail 58 is mounted on the JB connecting plate 59B; the JC connecting plate 59C is mounted with the Y-axis first slide rail 28.

(II) drilling execution part

Referring to fig. 1, fig. 1A, fig. 1B, fig. 1C, fig. 1D, fig. 1E, fig. 3, and fig. 3A, the hole-making executing part includes a limiting sliding sleeve 15, a limiting sliding block 16, a limiting sliding block support 17, an elbow drill 18, a drill 19, a first vertical cylinder 20, a second vertical cylinder 37, a limiting sliding sleeve support 21, a Z-axis lead screw nut 22, an insert sleeve inner rod 32, an insert sleeve outer sleeve 33, an insert sleeve support 34, an insert sleeve outer sleeve support 35, an insert sleeve support connecting member 36, an elbow drill support 52, an insert sleeve support limiting member 53, an insert sleeve cylinder 54, an insert sleeve cylinder push rod 55, a first insert sleeve sliding block 56A, and a second insert sleeve sliding block 56B.

The structure of the limiting sliding sleeve 15 is shown in fig. 3, 3A and 3B, and is a sliding sleeve designed with an OA opening; the center of the limiting sliding sleeve 15 is an OA through hole 15A for one end of the elbow drill 18 to pass through, and the limiting sliding sleeve 15 is sleeved on the UA opening end 21A of the limiting sliding sleeve support 21.

In the invention, the limiting sliding sleeve 15 with the opening structure is beneficial to flexible contact with the elbow drill 18, so that the limiting sliding sleeve 15 is tightly matched on the vertical section of the elbow drill 18 while the limiting sliding sleeve bracket 21 is driven to move up and down under the matching of the Z-axis lead screw 51 and the Z-axis lead screw nut 22, thereby realizing the adjustment of the height of the elbow drill 18 on the Z axis.

Referring to fig. 1, 2A, 2D, 2E, 3A and 3B, the structure shape of the limit slider bracket 17 is as shown in fig. 2D and 2E, the middle part of the limit slider bracket 17 is an open rectangular bracket 17A, and two outer sides of the open rectangular bracket 17A are symmetrically provided with AA lugs 17B, AB and lugs 17C; the AA lug 17B is provided with a BA through hole 17B1 for the first vertical cylinder 20 to pass through; the AB lug 17C is provided with a BB through hole 17C1 for the second vertical cylinder 37 to pass through; a rectangular through hole 17A2 for the upper end of the limiting slide block 16 to pass through is arranged on the upper panel 17A1 of the open rectangular frame 17A; an inside panel of the opening rectangular frame 17A is provided with an AA groove 17A3 and an AB groove 17A4, another inside panel of the opening rectangular frame 17A is provided with an AC groove 17A5 and an AD groove 17A6, the AA groove 17A3 is matched with the AC groove 17A5 to realize the installation of the limit slider 16, and the AB groove 17A4 is matched with the AD groove 17A6 to realize the installation of the plug bush support frame limit piece 53.

The structure of the limiting sliding sleeve support 21 is as shown in fig. 3, fig. 3A and fig. 3B, one end of the limiting sliding sleeve support 21 is a UA open end 21A, the other end of the limiting sliding sleeve support 21 is a circular ring end 21B, a UA through hole 21C for the Z-axis lead screw nut 22 to pass through is arranged in the center of the circular ring end 21B, a UA connecting arm 21D is arranged between the UA open end 21A and the circular ring end 21B, a UB through hole 21E for the nut to pass through is arranged on the UA connecting arm 21D, and the UA open end 21A of the limiting sliding sleeve support 21 and the limiting sliding sleeve 15 are installed through the nut passing through the UB through hole 21E. The Z-axis screw nut 22 and the circular ring end 21B of the limiting sliding sleeve support 21 are fixed on the second mounting plate 52D of the elbow drill support 52 through screws.

The structure of the inner plug bush rod 32 is as shown in fig. 3, 3A and 3B, a VA shaft section 32A and a VB shaft section 32B are arranged on the inner plug bush rod 32, a VA shaft shoulder 32C is arranged between the VA shaft section 32A and the VB shaft section 32B, and a VA through hole 32D is arranged in the center of the inner plug bush rod 32. The VA through hole 32D is for the drill bit 19 of the elbow drill 18 to pass through. The VA axle segment 32A is mounted in the XB through hole 34E of the jack support bracket 34, the VA shoulder 32C is mounted on the WA upper panel 33A of the jack housing 33, and the VB axle segment 32B is mounted in the WA through hole 33B of the jack housing 33.

The structure of the plug bush housing 33 is as shown in fig. 3, 3A and 3B, the plug bush housing 33 has a WA through hole 33B at the center thereof for passing the VB axial section 32B of the plug inner rod 32 therethrough, the upper end of the plug bush housing 33 is a WA upper panel 33A, and the WA upper panel 33A is a VA axial shoulder 32C for mounting the plug inner rod 32.

In the present invention, the outer surface of the insert inner rod 32 contacts the inner surface of the insert outer sleeve 33, and the contact surface has a morse taper.

The structure of the plug bush support frame 34 is as shown in fig. 3, fig. 3A, fig. 3B, fig. 3C and fig. 3D, wherein an XA transverse plate 34A is arranged on the plug bush support frame 34, and an XA connecting arm 34B fixed with an ZA connecting arm 36B of the plug bush support frame connecting part 36 is arranged above the XA transverse plate 34A; an XB connecting arm 34C is arranged below the XA transverse plate 34A, an XA through hole 34D for a push rod of the inserting cylinder 54 to pass through is arranged on the XB connecting arm 34C, and the push rod of the inserting cylinder 54 passing through the XA through hole 34D is connected to a push rod 55 of the inserting cylinder; a first connecting edge 53A of the plug bush support frame limiting piece 53 is fixed at one end of the XA transverse plate 34A, and a second connecting edge 53B of the plug bush support frame limiting piece 53 is installed on the elbow drill support 52; the other end of the XA transverse plate 34A is provided with an XB through hole 34E for the VA shaft section 32A of the inner rod 32 to pass through. An XA mounting surface 34F for mounting a UA connecting arm 55B of the inserting cylinder push rod 55 is arranged on one side of the outer part of the XB through hole 34E; the other side of the outside of the XB through hole 34E is provided with an XB mounting surface for mounting a UB connecting arm 55C of the inserting cylinder push rod 55.

The structure of the plug bush outer sleeve bracket 35 is as shown in fig. 3, 3A and 3B, a YA circular ring 35A is arranged on the plug bush outer sleeve bracket 35, and YA connecting arms 35B and YB connecting arms 35C are symmetrically arranged on the YA circular ring 35A; a YA sliding groove 35D for the first plug bush shaft 56C to pass through is arranged on the YA connecting arm 35B; a YB sliding groove 35E for the second plug bush shaft 56D to pass through is arranged on the YB connecting arm 35C; the center of the YA ring 35A is a YA through hole 35F for the WA rod section 33C of the spigot jacket 33 to pass through, and the WA upper panel 33A of the spigot jacket 33 passing through the YA through hole 35F is fitted in the YA countersunk cavity 35G of the YA ring 35A.

In the present invention, two sliding grooves are respectively arranged on two connecting arms of the plug bush housing bracket 35, and the sliding grooves form a certain inclination angle with the horizontal plane. The inclination angle is generally 1 to 5 degrees.

The structure of the plug bush support frame connecting piece 36 is as shown in fig. 3, 3A and 3B, wherein a ZA transverse plate 36A is arranged on the plug bush support frame connecting piece 36, and two ZA connecting arms 36B arranged in parallel are arranged below the ZA transverse plate 36A; the ZA connecting arm 36B is fixed to the XA connecting arm 34B of the socket support bracket 34 by a screw. A first vertical cylinder 20 is fixed to one end of the ZA plate 36A, and a second vertical cylinder 37 is fixed to the other end of the ZA plate 36A.

The structure of the Z-axis lead screw 51 is shown in fig. 3, 3A, 3B and 3F, the Z-axis lead screw 51 is provided with a Z-axis worm wheel 13 and a Z-axis shaft sleeve 13C, Z, and a shaft bearing 13B, Z and a lead screw nut 22 from top to bottom; the Z-axis worm wheel 13 is positioned at the upper end of the Z-axis lead screw 51 and is matched with the Z-axis worm 14 to realize the movement of the Z-axis lead screw 51; the Z-axis shaft sleeve 13C is arranged between the Z-axis worm wheel 13 and the Z-axis bearing 13B, and the Z-axis shaft sleeve 13C is used for preventing the Z-axis bearing 13B from moving when the Z-axis worm 14 drives the Z-axis worm wheel 13 to move; the Z-axis bearing 13B is arranged in a bearing hole of the Z-axis bearing block 13A, and the Z-axis bearing block 13A is fixed on an AB connection panel 23B of the Z-axis lead screw bracket 23 (as shown in figure 2); the Z-axis lead screw nut 22 is sleeved on the Z-axis lead screw 51, and the Z-axis lead screw nut 22 and the circular ring end 21B of the limiting sliding sleeve support 21 are fixed on the second mounting plate 52D of the elbow drill support 52.

The elbow drill support 52 is structured as shown in fig. 3, 3A, 3B, and 3F, and the elbow drill support 52 is provided with a first slide rail body 52A, a second slide rail body 52B, a first mounting plate 52C, and a second mounting plate 52D; a screw rod through hole 52E for the lower end of the Z-axis screw rod 51 to pass through is formed in the second mounting plate 52D; the first slide rail body 52A is used for passing through the AB groove 17A4 and the AC groove 17A5 on the opening end of the limiting slide rail bracket 17, and the movement of the limiting slide rail bracket 17 on the first slide rail body 52A is realized through the cooperation of the AB groove 17A4, the AC groove 17A5 and the first slide rail body 52A; the second slide rail body 52B is used for the second connecting edge 53B of the plug bush support frame limiting piece 53 to pass through, and under the matching of the Z-axis lead screw 51 and the Z-axis lead screw nut 22, on one hand, the elbow drill support 52 moves on the second connecting edge 53B of the plug bush support frame limiting piece 53, and on the other hand, the Z-axis slide block 38 moves on the Z-axis slide rail 50; the first mounting plate 52C is fixedly provided with a Z-axis slider 38; the Z-axis lead screw nut 22 is fixedly mounted on the second mounting plate 52D.

The structure of the plug bush support limiting piece 53 is as shown in fig. 3, 3A, and 3B, the plug bush support limiting piece 53 is triangular, a first connecting edge 53A of the plug bush support limiting piece 53 is fixed to one end of the XA transverse plate 34A of the plug bush support 34, and a second connecting edge 53B of the plug bush support limiting piece 53 is installed on the elbow drill support 52.

The structure of the sleeve cylinder push rod 55 is shown in fig. 3, 3A, 3B and 3E, a UA connecting plate 55A is arranged on the sleeve cylinder push rod 55, and a UA connecting arm 55B and a UB connecting arm 55C are arranged on the UA connecting plate 55A; a UA through hole 55D for the first insertion sleeve shaft 56C to pass through is formed at the end of the UA connection arm 55B; an end of the UB connection arm 55C is provided with a UB through hole 55E for the second ferrule shaft 56D to pass through. The UA connecting plate 55A is provided with a UC through hole 55F through which a push rod for inserting the cylinder 54 passes.

In the present invention, the sleeve cylinder push rod 55 is driven by the sleeve cylinder 54 to realize the movement of the sleeve support 34 in the X-axis direction.

In the drilling execution part of the invention, a Z-axis lead screw nut 22 is connected with a Z-axis lead screw 51, the Z-axis lead screw nut 22 passes through and is fixedly connected with an inner hole of a limiting sliding sleeve support 21, two parts are fixedly connected on an elbow drill support 52, a limiting sliding sleeve 15 is sleeved on an elbow drill 18 and is fixedly connected with the limiting sliding sleeve support 21, a limiting sliding block support 17 is fixedly connected with the elbow drill support 52, the upper ends of a first vertical cylinder 20 and a second vertical cylinder 37 are fixedly connected with two sides of the limiting sliding block support 17, the lower ends of the first vertical cylinder 20 and the second vertical cylinder 37 are fixedly connected with two sides of a plug bush support frame connecting piece 36, the plug bush support frame connecting piece 36 is fixedly connected with a plug bush support frame 34, a plug bush inner rod 32 is in threaded connection with the plug bush support frame 34, a plug bush limiting piece 53 is positioned in a sliding groove of the elbow drill support frame 52 and is fixedly connected with the plug bush support frame 34, the plug bush cylinder 54 is fixedly connected with a plug bush cylinder push rod 55, the front end of the plug bush cylinder push rod 55 is located in a sliding groove of the plug bush support frame 34, the first plug bush sliding block 56A and the second plug bush sliding block 56B are fixedly connected with the plug bush cylinder push rod 55, the plug bush sliding blocks are located in the sliding groove of the plug bush outer sleeve support frame 35, the upper end of the plug bush outer sleeve 33 is nested in a groove of the plug bush outer sleeve support frame 35, and the drill bit 19 is in threaded connection with the elbow drill 18.

(III) attitude adjusting section

Referring to fig. 1, 1A, 1B, 1C, 1D, and 1E, the posture adjustment part includes a Y-axis unit, a Z-axis unit, an RX-axis unit, and a RY-axis unit. In the present invention, the posture adjustment movement includes a linear movement and a rotational movement.

The first type is linear motion, and a Y-axis driving motor 4 and a Z-axis driving motor 10 respectively provide linear motion along the Y-axis and the Z-axis; in addition, the hole making device can be arranged on different motion platforms to generate linear motion along the X-axis direction;

the second type is rotational motion, and the RX axis drive motor 29 and the RY axis drive motor 7 provide rotational motion in both directions about the X axis and about the Y axis, respectively.

Y-axis unit

The structure of the Y-axis unit is shown in fig. 4, 4A and 4B, and the Y-axis unit includes a Y-axis driving wheel 2, a Y-axis driven wheel 31, a first synchronous belt 3, a Y-axis driving motor 4, a Y-axis lead screw 57, a Y-axis first slide rail 28, a Y-axis second slide rail 58, a Y-axis first slide block 43, a Y-axis second slide block 45, a Y-axis lead screw nut 44, a Y-axis driving motor support 30, a Y-axis first slide block support 46, a Y-axis second slide block support 59, and a Y-axis nut connector 60.

A Y-axis second slide rail 58 is fixed on a JB connecting plate 59B of the Y-axis second slide block bracket 59, a Y-axis second slide block 45 is sleeved on the Y-axis second slide rail 58, and the Y-axis second slide block 45 is fixed on an FB connecting plate 46B of the Y-axis first slide block bracket 46; a first Y-axis slide rail 28 is fixed to the JC connection plate 59C of the second Y-axis slide bracket 59, a first Y-axis slide block 43 is sleeved on the first Y-axis slide rail 28, and the first Y-axis slide block 43 is fixed to the FB connection plate 46B of the first Y-axis slide bracket 46.

A Y-axis drive motor 4 is fixed on a Y-axis motor connecting plate 30A of the Y-axis drive motor bracket 30; a Y-axis bearing block 57B is fixed on a Y-axis lead screw connecting plate 30B of the Y-axis drive motor bracket 30; a Y-axis bearing 57A is mounted on the Y-axis bearing block 57B; the Y-axis bearing 57A and the Y-axis lead screw nut 44 are sleeved on the Y-axis lead screw 57. The Y-axis screw nut 44 is fixed to the FC connection plate 60A of the Y-axis nut connector 60, and the FD connection plate 60B of the Y-axis nut connector 60 is fixed to the FB connection plate 46B of the Y-axis first slider bracket 46.

An output shaft of the Y-axis driving motor 4 penetrates through a YA through hole 30A1 on a Y-axis motor connecting plate 30A of the Y-axis driving motor support 30 and then is sleeved with a Y-axis driving wheel 2, and the Y-axis driving wheel 2 and a Y-axis driven wheel 31 are sleeved with a first synchronous belt 3; one end of the Y-axis lead screw 57 sequentially passes through the YB through hole 30B1 on the Y-axis lead screw connecting plate 30B of the Y-axis bearing block 57B, Y shaft bearing 57A, Y shaft driving motor bracket 30, and then the Y-axis driven wheel 31 is fixedly installed, and the other end of the Y-axis lead screw 57 sequentially passes through the Y-axis lead screw nut 44 and the FC through hole 60C on the FC connecting plate 60A of the Y-axis nut connecting piece 60.

In the present invention, the Y-axis lead screw 57 is driven by the Y-axis driving motor 4 to move, and simultaneously, the Y-axis nut connector 60 is driven to follow, and since the Y-axis nut connector 60 is fixed to the FB connecting plate 46B of the Y-axis first slider bracket 46, the Y-axis first slider bracket 46 moves along the Y-axis first slider 43 and the Y-axis second slider 45.

Z-axis unit

The structure of the Z-axis unit is shown in fig. 5 and 5A, and the Z-axis unit includes a Z-axis driving motor 10, a second coupling 11, a Z-axis driving motor bracket 12, a Z-axis worm gear 13, a Z-axis worm 14, a Z-axis lead screw nut 22, a Z-axis lead screw bracket 23, a Z-axis support plate 24, a Z-axis slider 38, a Z-axis slide rail 50, and a Z-axis lead screw 51.

The Z-axis driving motor 10 is fixed on a CA connecting plate 12A of the Z-axis driving motor bracket 12, and a CB connecting plate 12B of the Z-axis driving motor bracket 12 is fixed on a BA connecting panel 24A of the Z-axis supporting plate 24; one end of a second coupling 11 is sleeved on an output shaft of the Z-axis driving motor 10, and the other end of the second coupling 11 is connected with one end of a Z-axis worm 14; the Z-axis first bearing 10A and the Z-axis second bearing 10B are sleeved on the Z-axis worm 14 and are arranged in a circular cavity of a Z-axis bearing seat 10C, and the Z-axis bearing seat 10C is fixed on a BA connecting panel 24A of a Z-axis supporting plate 24; the Z-axis sliding block 38 is sleeved on the Z-axis sliding rail 50, the Z-axis sliding block 38 is fixed on a first mounting plate 52C of the elbow drill support 52, and the Z-axis sliding rail 50 is fixed on a BB connection panel 24B of the Z-axis support plate 24; the upper end of the Z-axis lead screw 51 is connected with the Z-axis worm wheel 13.

In the invention, the Z-axis worm 14 moves under the driving of the Z-axis driving motor 10 and simultaneously drives the Z-axis worm wheel 13 and the Z-axis lead screw 51 to move, and as the Z-axis lead screw nut 22 is sleeved on the Z-axis lead screw 51 on one hand and is fixed on the second mounting plate 52D of the elbow drill support 52 on the other hand, the Z-axis slide block 38 moves along the Z-axis slide rail 50 while the Z-axis lead screw nut 22 drives the limiting slide sleeve support 21 to follow.

RX-axis unit

As shown in fig. 6 and 6A, the RX shaft unit includes an RX shaft worm 6, a first coupling 5, an RX shaft driving motor bracket 27, an RX shaft driving motor 29, an RX shaft worm wheel 42, and an RX shaft rotating shaft 47.

The RX axis driving motor 29 is fixed on the DA connection plate 27A of the RX axis driving motor bracket 27, and the DB connection plate 27B of the RX axis driving motor bracket 27 is fixed on the FA connection plate 46A of the Y axis first slider bracket 46; one end of a first coupler 5 is sleeved on an output shaft of the RX shaft driving motor 29, and the other end of the first coupler 5 is connected with one end of an RX shaft worm 6; the RX shaft first bearing 29B is sleeved on the RX shaft worm 6 and is arranged in a circular cavity of the RX shaft bearing block 29A, and the RX shaft bearing block 29A is fixed on an FA connecting plate 46A of the Y shaft first sliding block bracket 46; an RX shaft connecting plate 47C is fixed on the FB connecting plate 46B of the Y-axis first slider bracket 46, an RX shaft bearing 47A is installed in an RX shaft bearing through hole 47C1 of the RX shaft connecting plate 47C, and the RX shaft bearing 47A and the RX shaft rotating shaft nut 47B are sleeved on the RX shaft rotating shaft 47. An RX axis spindle nut 47B is fixed on the EA connection plate 26B of the RY axis drive motor bracket 26, and one end of the RX axis spindle nut 47B passes through the EG through hole 26B 2. One end of the RX shaft rotating shaft 47 is placed in the RX shaft bearing through hole 47C1 of the RX shaft connecting plate 47C (and the RX shaft second bearing 47A is also placed in the RX shaft bearing through hole 47C 1), and the other end of the RX shaft rotating shaft 47 passes through the RX shaft second bearing 47A and the RX shaft rotating shaft nut 47B.

A RY shaft lead screw connecting plate 42C is fixed on the RX shaft worm wheel 42, and one end of a RY shaft lead screw nut 61 is sleeved with a RY shaft lead screw bearing 42B after passing through a through hole on the RY shaft lead screw connecting plate 42C, and then connected to the RY shaft driven wheel 25 after passing through an EF through hole 26B1 on the EA connecting plate 26B of the RY shaft drive motor bracket 26.

In the present invention, the RX shaft driving motor 29 drives the RX shaft worm 6 to move, and the RY shaft lead screw nut 61 moves on the RY shaft lead screw 41 under the condition that the RX shaft worm 6 is matched with the RX shaft worm wheel 42, and the RY shaft driving motor bracket 26 follows because the RX shaft worm wheel 42 is fixed on the RY shaft driving motor bracket 26.

RY axle unit

As shown in fig. 7, 7A and 7B, the RY shaft unit includes a RY shaft driving motor 7, a second timing belt 8, a RY shaft driving wheel 9, a RY shaft driven wheel 25, a RY shaft driving motor bracket 26, a RY upper shaft slider 39, a RY upper shaft slider connecting plate 39A, RY, an upper rotating shaft 40, a RY lower shaft 49, a RY shaft screw 41 and a RY shaft screw nut 61.

The RY shaft driving motor 7 is fixed on an EB supporting arm 26A of the RY shaft driving motor bracket 26, and a RY shaft driving wheel 9 is fixed on an output shaft of the RY shaft driving motor 7; a second synchronous belt 8 is sleeved between the RY shaft driving wheel 9 and the RY shaft driven wheel 25; the RY shaft driven wheel 25 is fixed on a RY shaft lead screw nut 61; a RY shaft lead screw nut 61 is sleeved on the RY shaft lead screw 41; the end part of the RY shaft lead bar 41 is connected with one end of a RY upper rotating shaft sliding block connecting plate 39A through a RY upper rotating shaft 40, and the other end of the RY upper rotating shaft sliding block connecting plate 39A is fixed with the RY upper rotating shaft sliding block 39; RY lower rotating shafts 49 are connected to the end portions of the EC supporting arm 26C and the ED supporting arm 26D of the RY shaft driving motor support 26, and the lower end of the RY shaft driving motor support 26 is connected with an EA supporting arm 48H of the front end supporting frame 48 through the RY lower rotating shafts 49.

In the invention, the RY shaft driving wheel 9, the second timing belt 8 and the RY shaft driven wheel 25 drive the RY shaft screw nut 61 to move on the RY shaft screw 41 under the drive of the RY shaft driving motor 7.

The drill 19 in the present invention may be a hole-making tool, or may be a tool for other purposes such as grinding.

The base plate 1 in the present invention can be attached to various kinds of moving units.

Claims

1. A multi-degree-of-freedom hole making device is characterized in that: comprises a posture adjusting part, a hole making executing part and a supporting part;

2. The multiple degree of freedom drilling device of claim 1, wherein: the outer surface of the inner plug bush rod (32) is contacted with the inner surface of the outer plug bush sleeve (33), and the two surfaces are in Morse taper.

3. The multiple degree of freedom drilling device of claim 1, wherein: the plug bush outer sleeve support (35) is provided with two sliding grooves, and the sliding grooves and the horizontal plane form a certain angle.

4. The multiple degree of freedom drilling device of claim 1, wherein: the posture adjustment movement comprises linear movement and rotary movement;

the first type is linear motion, and a Y-axis driving motor (4) and a Z-axis driving motor (10) respectively provide linear motion along the Y-axis and the Z-axis;

the second type is rotary motion, and an RX shaft driving motor (29) and a RY shaft driving motor (7) respectively provide rotary motion around the X shaft and around the Y shaft in two directions.