CN110450028A - A kind of complex-curved grinding and polishing device - Google Patents
A kind of complex-curved grinding and polishing device Download PDFInfo
- Publication number
- CN110450028A CN110450028A CN201910878400.5A CN201910878400A CN110450028A CN 110450028 A CN110450028 A CN 110450028A CN 201910878400 A CN201910878400 A CN 201910878400A CN 110450028 A CN110450028 A CN 110450028A
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- China
- Prior art keywords
- polishing
- servo
- grinding
- polishing head
- electric push
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
- B24B47/04—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by mechanical gearing only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
- B24B49/165—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load for grinding tyres
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of curve grinding-polishing devices, especially a kind of complex-curved grinding and polishing device, including pedestal, grinding and polishing device and power level control device, wherein, controller is according to the pose of the polishing head updated as feedback in power level control device, closed-loop control is carried out to the inclination angle of polishing head, makes the inclination angle of polishing head that complex-curved curvature tightly be followed arbitrarily to change, adjusts the pose of polishing head in real time；It is suitble to the polishing power given value of its operating condition in view of different curve is corresponding with, controller needs to synchronize resultant force (i.e. the polishing power of grinding and polishing device) the progress closed-loop control being applied on polishing head to four servo-electric push rods in above process, so that practical polishing power is tightly followed any variation of given value, the polishing power of grinding and polishing device is precisely controlled.It actually solves the technical issues of " control that grinding and polishing device realizes power and position degree of precision in complex-curved polishing ", has the advantages that Shared control stability is good, and polishing precision is high.
Description
Technical field
The present invention relates to a kind of curve grinding-polishing device, especially a kind of complex-curved grinding and polishing device.
Background technique
At present in the Shared control for replacing hand labour to realize curve grinding-polishing operation with automated arms such as robots, lead to
It crosses the passive compliances structure such as actuator installation spring, damping at its end and uses the adaptive curved fashion of pose soft to realize
The way of sequence is more universal.This power/position mixing control method is that a kind of strong coupling and nonlinearity of time-varying is weak
The strategy of change realizes that displacement-pose-power control is extremely difficult and precision is lower, control is unstable and complicated for processing
The pose of curved surface can not active control, the high flexibility and robot itself of any power of generation required when not can solve Polishing machining
Contradiction between the high rigidity of position and structure in operation.
Summary of the invention
A kind of grinding and polishing device is provided the purpose of the present invention is to solve above-mentioned the deficiencies in the prior art, power may be implemented
Control with position degree of precision and the adjustment to polishing head pose, especially suitable for complex-curved Polishing machining.
To achieve the goals above, a kind of complex-curved grinding and polishing device designed by the present invention comprising:
The pedestal of one tubulose, side wall be equipped with around center line uniform ring cloth four groove bodies, four
Groove body extends to the second end from the first end of pedestal；It is equipped with ring flange in the outside of the second end, and with second
End is mutually fixed；
One power level control device, including a substrate, a multi-dimension force sensor, an obliquity sensor, a controller,
Four servo-electric push rods, four connecting rods, four bulb joint bearings and four bulb joint bearing blocks；In the substrate
The heart is equipped with first through hole；
Wherein, substrate is located at the side of the first end of pedestal, and four bulb joint bearing blocks are all secured to the same side of substrate
On face, and in the outer ring uniform ring cloth of first through hole, hinged bulb joint bearing on each bulb joint bearing block,
Four bulb joint bearings and four groove bodies on pedestal are corresponding one by one, and run through its corresponding groove body, four servo electricity one by one
Push rod is moved in the outer ring uniform ring cloth of pedestal, and is mutually fixed with ring flange, the pusher portion of four servo-electric push rods exists
It can be achieved to stretch in the axial direction of pedestal, second through-hole be equipped in the pusher portion of four servo-electric push rods, each
Run through a connecting rod on second through-hole, and form one group of cylindrical pair, four groove bodies in four connecting rods and pedestal are one by one
It is corresponding, and corresponding bulb joint bearing is mutually fixed, a multi-dimension force sensor and an obliquity sensor are all secured to
It on substrate, and is electrically connected with controller, a controller is electrically connected with four servo-electric push rods；
One motor with four bulb joint bearing seats in the same side of substrate, and is fixed on substrate, and motor shaft is vertical
Through first through hole, and the two clearance fit；
And a polishing head, it is located at the other side of substrate, and connect with electric machine shaft driving；
Wherein, the controller is used to receive four servo-electric push rods that multi-dimension force sensor measures during polishing and is applied to
The pose of the polishing head of resultant force and obliquity sensor measurement on polishing head, according to the pose of the polishing head updated as anti-
Feedback carries out Shared control to grinding and polishing device, adjusts resultant force that four servo-electric push rods are applied on polishing head and polishing head
Pose.
A kind of grinding and polishing device provided by the present invention, four groove bodies of pedestal respectively close corresponding bulb in structure
Bearings limit, each bulb joint bearing are merely able in its corresponding slot body activity.In addition, four servo-electric push rods
Pusher portion transfers the motion to corresponding bulb joint bearing, and four bulb joint bearing annulars are evenly arranged on polishing head
Four direction, the up and down motion of four pusher portions will be converted to the variation of pose on polishing head four direction.Meanwhile four
Power is transferred on polishing head by the pusher portion of a servo-electric push rod by connecting rod and bulb joint bearing, and polishing head is applied
The polishing power stool and urine for being added in polishing curved surface can be controlled by the power output of four servo-electric push rods.
The grinding and polishing device of above structure can directly adjust polishing using the pusher portion lifting of four servo-electric push rods
The pose of head simultaneously provides polishing power, since four servo-electric push rods control inclination angle and the polishing of polishing head on four direction
Power, so the pose of polishing head can arbitrarily adjust various complex-curved to adapt within the scope of certain inclination angle, and four are watched
After taking the power synthesis that electric pushrod is applied on polishing head, the size and Orientation of resultant force is also arbitrarily to control.
The grinding and polishing device of above structure, which needs to be bound on mechanical arm, to be used, and is mounted on machine by the ring flange on pedestal
On tool arm, the polishing head of lower part is contacted with complex-curved, and motor drives the rotation polishing of polishing head, and mechanical arm is with grinding and polishing device edge
Curved surface is mobile, to complete curve grinding-polishing.
Above-mentioned grinding and polishing device carries out the Shared control process of complex-curved grinding-and-polishing working, specific as follows:
Controller, as feeding back, carries out closed-loop control to the inclination angle of polishing head, makes polishing according to the pose of the polishing head updated
The inclination angle of head tightly follows complex-curved curvature arbitrarily to change, and adjusts the pose of polishing head in real time；In view of different curve is equal
It is corresponding with the polishing power given value for being suitble to its operating condition, controller needs, which synchronize, in above process applies four servo-electric push rods
The resultant force (i.e. the polishing power of grinding and polishing device) being added on polishing head carries out closed-loop control, and practical polishing power is made tightly to follow given value
Any variation, the polishing power of grinding and polishing device is precisely controlled.
Therefore, grinding and polishing device of the present invention can be very good to realize the Shared control of power and position, with processing curve and
The variation of polishing power, the rotation speed of polishing head also generates corresponding variation so that polishing precision reaches ideal range, thus
Guarantee the precision of polishing.
Preferably, the transmission connecting structure of above-mentioned motor shaft and polishing head are as follows: be equipped with one on the outside of the end of motor shaft
A three-jaw chuck, and mutually fixed with motor shaft, polishing head detachable type is fixed on three-jaw chuck.
Preferably, the fixed structure of each servo-electric push rod and ring flange are as follows: be equipped with one in the side of ring flange
The mounting base of channel steel structure, bottom are mutually fixed with ring flange, and the non-pusher portion of the servo-electric push rod is equipped with connection
Head is extended into the groove of mounting base, and is locked by fastener.
As a further improvement, the side wall of said base is reserved equipped with four installations around center line uniform ring cloth
Hole, and it is corresponding one by one with the fastener in four mounting bases.
Installation preformed hole described in above-mentioned further improvement technical solution can facilitate the connector of servo-electric push rod with
Mounting base is locked by fastener and is installed.
A kind of grinding and polishing device that the present invention obtains, power level control device uses active compliance structure in structure, in polishing
Facilitate in the process and position-pose-power control is realized to polishing head, therefore control stability is good, polishing precision is high, is particularly suitable for
In complex-curved Polishing machining.
Detailed description of the invention
Fig. 1 is that embodiment 1 provides a kind of structural schematic diagram of complex-curved grinding and polishing device；
Fig. 2 is the structural schematic diagram of power level control device in embodiment 1；
Fig. 3 is the structural schematic diagram of pedestal in embodiment 1；
Fig. 4 is the structural schematic diagram of pedestal in embodiment 2.
In figure: pedestal 1, first end 1-1, the second end 1-2, groove body 1-3, lumen 1-4, installation preformed hole 1-5, flange
Disk 2, substrate 3, first through hole 3-1, multi-dimension force sensor 4, obliquity sensor 5, controller 6, servo-electric push rod 7, non-push rod
Part 7-1, connector 7-2, pusher portion 7-3, the second through-hole 7-3-1, connecting rod 8, bulb joint bearing 9, ball head 9-1,
Bearing portion 9-2, bulb joint bearing block 10, articulated section 10-1, mounting portion 10-2, mounting base 11, groove 11-1, motor 12, electricity
Arbor 12-1, polishing head 13, three-jaw chuck 14.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
Embodiment 1:
As shown in Figure 1-3, a kind of complex-curved grinding and polishing device provided in this embodiment comprising:
The pedestal 1 of one circular tube shaped, side wall are equipped with four groove body 1-3 around center line uniform ring cloth,
Four groove body 1-3 extend to the second end 1-2 from the first end 1-1 of pedestal 1；It is set on the outside of the second end 1-2
There is ring flange 2, ring flange 2 is soldered directly on the second end 1-2, and ring flange 2 is overlapped with the center line of both pedestals 1；
One power level control device, including the multi-dimension force sensor 4, one obliquity sensor 5, one of substrate 3, one control
8, the four bulb joint bearings 9 of the connecting rod of servo-electric push rod 7, four of device 6, four and four bulb joint bearing blocks 10；Institute
The center for stating substrate 3 is equipped with first through hole 3-1；
Wherein, substrate 3 is located at the side of the first end 1-1 of pedestal 1, and four bulb joint bearing blocks 10 are respectively positioned on pedestal 1
In lumen 1-4；Each bulb joint bearing block 10 includes articulated section 10-1 and the mounting portion positioned at the articulated section two sides 10-1
10-2；
The mounting portion 10-2 of four bulb joint bearing blocks 10 passes through fastener and is locked on the same side of substrate 3, and
Outer ring uniform ring cloth of four bulb joint bearing blocks 10 in first through hole 3-1；
Hinged bulb joint bearing 9 on the articulated section 10-1 of each bulb joint bearing block 10, herein each bulb
Oscillating bearing 9 is to be carried out hingedly using ball head 9-1 with corresponding bulb joint bearing block 10, four bulb joint bearings 9
It is corresponding one by one with four groove body 1-3 on pedestal 1, and the bearing portion 9-2 of four bulb joint bearings 9 runs through its correspondence one by one
Groove body 1-3；Four groove body 1-3 respectively limit corresponding bulb joint bearing 9, and each bulb joint bearing 9 can only
It is enough movable in its corresponding groove body 1-3；
Four servo-electric push rods 7 and are fixed with 2 phase of ring flange in the outer ring uniform ring cloth of pedestal 1；Each servo-electric pushes away
The fixed structure of bar 7 and ring flange 2 are as follows: be equipped with the mounting base 11 of a channel steel structure in the side of ring flange 2, bottom passes through
Fastener is locked on ring flange 2, and the non-pusher portion 7-1 of the servo-electric push rod 7 is equipped with connector 7-2, is extended
It enters in the groove 11-1 of mounting base 11, and is locked by fastener；
The pusher portion 7-3 of four servo-electric push rods 7 can be achieved to stretch in the axial direction of pedestal 1, and four servo-electrics push away
A second through-hole 7-3-1 is equipped on the pusher portion 7-3 of bar 7, through a connection on each second through-hole 7-3-1
Bar 8, and form one group of cylindrical pair, four connecting rods 8 ball corresponding one by one and corresponding with four groove body 1-3 on pedestal 1
The bearing portion 9-2 phase of head oscillating bearing 9 is fixed；
One multi-dimension force sensor 4 and an obliquity sensor 5 are all secured on substrate 3, and are electrically connected with controller 6,
One controller 6 is electrically connected with four servo-electric push rods 7；
One motor 12 is located in the lumen 1-4 of pedestal 1, is located at the same of substrate 3 with four bulb joint bearing blocks 10
Side, and on the substrate 3 by fastener locking, motor shaft 12-1 extends vertically through first through hole 3-1, and the two clearance fit；
And a polishing head 13, it is located at the other side of substrate 3, and be sequentially connected with motor shaft 12-1；The motor shaft
The transmission connecting structure of 12-1 and polishing head 13 are as follows: equipped with a three-jaw chuck 14 on the outside of the end of motor shaft 12-1, and with
Motor shaft 12-1 phase is fixed, and polishing head 13 is detachable to be fixed on three-jaw chuck 14.
Wherein, the pusher portion 7-3 of four servo-electric push rods 7 transfers the motion to corresponding bulb joint axis
9 are held, four 9 annulars of bulb joint bearing are evenly arranged on the four direction of polishing head 13, and the up and down motion of four pusher portion 7-3 is just
The variation of pose on 13 four direction of polishing head can be converted to.Meanwhile the pusher portion 7-3 of four servo-electric push rods 7 will
Power is transferred on polishing head 13 by connecting rod 8 and bulb joint bearing 9, and the polishing power that polishing head 13 is applied to polishing curved surface is big
Urine can be controlled by the power output of four servo-electric push rods 7, the high speed rotation under the drive of motor 12 of polishing head 13；
The controller 6, which is used to receive four servo-electric push rods 7 that multi-dimension force sensor 4 measures during polishing and is applied to, to be ground
The pose for the polishing head 13 that resultant force and obliquity sensor 5 on ramming head 13 measure, according to the pose of the polishing head 13 updated
As feedback to grinding and polishing device carry out Shared control, adjust four servo-electric push rods 7 be applied to the resultant force on polishing head 13 with
And the pose of polishing head 13.
The grinding and polishing device of above structure can be adjusted directly using the pusher portion 7-3 lifting of four servo-electric push rods 7
The pose of polishing head 13 simultaneously provides polishing power, since four servo-electric push rods 7 control polishing head 13 on four direction
Inclination angle and polishing power, so the pose of polishing head 13 can arbitrarily adjust to adapt to various complicated songs within the scope of certain inclination angle
Face, and four servo-electric push rods 7 are applied to after the synthesis of the power on polishing head 13, and the size and Orientation of resultant force is also can be with
Arbitrarily control.
Above-mentioned grinding and polishing device carries out the Shared control process of complex-curved grinding-and-polishing working, specific as follows:
Controller 6 is used as according to the pose of the polishing head 13 updated to be fed back, to the pusher portion 7- of four servo-electric push rods 7
3 strokes (inclination angle of polishing head 13) carry out closed-loop control, make the inclination angle of polishing head 13 that complex-curved curvature tightly be followed to appoint
Meaning variation, adjusts the pose of polishing head 13 in real time；It is suitble to the polishing power given value of its operating condition in view of different curve is corresponding with,
Controller 6 needs to synchronize resultant force (the i.e. polishing dress being applied on polishing head 13 to four servo-electric push rods 7 in above process
The polishing power set) closed-loop control is carried out, so that practical polishing power is tightly followed any variation of given value, the polishing to grinding and polishing device
Power is precisely controlled.
Therefore, above-mentioned grinding and polishing device can be very good to realize the Shared control of power and position, with processing curve and grind
The variation of power is thrown, the rotation speed of polishing head 13 also generates to be changed so that polishing precision reaches ideal range accordingly, thus
Guarantee the precision of polishing.
The grinding and polishing device of above structure is bound on mechanical arm and uses, and is mounted on machinery by the ring flange 2 on pedestal 1
On arm, the polishing head 13 of lower part is contacted with complex-curved, and motor 12 drives the rotation polishing of polishing head 13, and mechanical arm is filled with polishing
It sets and is moved along curved surface, to complete curve grinding-polishing.
Embodiment 2:
A kind of complex-curved grinding and polishing device provided by the present embodiment, general structure is consistent with embodiment 1, as shown in figure 4,
But the side wall of pedestal 1 described in the present embodiment be equipped with around center line uniform ring cloth four installation preformed hole 1-5, and with
Fastener in four mounting bases 11 corresponds to one by one.
Above-mentioned installation preformed hole 1-5 can facilitate the connector 7-2 of servo-electric push rod 7 and mounting base 11 to pass through fastener
Locking installation.
Claims (4)
1. a kind of complex-curved grinding and polishing device, it is characterized in that including:
The pedestal of one tubulose, side wall be equipped with around center line uniform ring cloth four groove bodies, four
Groove body extends to the second end from the first end of pedestal；It is equipped with ring flange in the outside of the second end, and with second
End is mutually fixed；
One power level control device, including a substrate, a multi-dimension force sensor, an obliquity sensor, a controller,
Four servo-electric push rods, four connecting rods, four bulb joint bearings and four bulb joint bearing blocks；In the substrate
The heart is equipped with first through hole；
Wherein, substrate is located at the side of the first end of pedestal, and four bulb joint bearing blocks are all secured to the same side of substrate
On face, and in the outer ring uniform ring cloth of first through hole, hinged bulb joint bearing on each bulb joint bearing block,
Four bulb joint bearings and four groove bodies on pedestal are corresponding one by one, and run through its corresponding groove body, four servo electricity one by one
Push rod is moved in the outer ring uniform ring cloth of pedestal, and is mutually fixed with ring flange, the pusher portion of four servo-electric push rods exists
It can be achieved to stretch in the axial direction of pedestal, second through-hole be equipped in the pusher portion of four servo-electric push rods, each
Run through a connecting rod on second through-hole, and form one group of cylindrical pair, four groove bodies in four connecting rods and pedestal are one by one
It is corresponding, and corresponding bulb joint bearing is mutually fixed, a multi-dimension force sensor and an obliquity sensor are all secured to
It on substrate, and is electrically connected with controller, a controller is electrically connected with four servo-electric push rods；
One motor with four bulb joint bearing seats in the same side of substrate, and is fixed on substrate, and motor shaft is vertical
Through first through hole, and the two clearance fit；
And a polishing head, it is located at the other side of substrate, and connect with electric machine shaft driving；
Wherein, the controller is used to receive four servo-electric push rods that multi-dimension force sensor measures during polishing and is applied to
The pose of the polishing head of resultant force and obliquity sensor measurement on polishing head, according to the pose of the polishing head updated as anti-
Feedback carries out Shared control to grinding and polishing device, adjusts resultant force that four servo-electric push rods are applied on polishing head and polishing head
Pose.
2. a kind of complex-curved grinding and polishing device according to claim 1, it is characterized in that the biography of above-mentioned motor shaft and polishing head
Dynamic connection structure are as follows: be equipped with a three-jaw chuck on the outside of the end of motor shaft, and mutually fixed with motor shaft, polishing head is detachable
Formula is fixed on three-jaw chuck.
3. a kind of complex-curved grinding and polishing device according to claim 1 or 2, it is characterized in that each servo-electric push rod and method
The fixed structure of blue disk are as follows: it is equipped with the mounting base of a channel steel structure in the side of ring flange, bottom is mutually fixed with ring flange,
The non-pusher portion of the servo-electric push rod is equipped with connector, extends into the groove of mounting base, and by tight
Firmware locking.
4. a kind of complex-curved grinding and polishing device according to claim 3, it is characterized in that the side wall of said base be equipped with around
Four installation preformed holes of center line uniform ring cloth, and it is corresponding one by one with the fastener in four mounting bases.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910878400.5A CN110450028B (en) | 2019-09-18 | 2019-09-18 | Complex curved surface grinding and polishing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910878400.5A CN110450028B (en) | 2019-09-18 | 2019-09-18 | Complex curved surface grinding and polishing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110450028A true CN110450028A (en) | 2019-11-15 |
| CN110450028B CN110450028B (en) | 2020-12-22 |
Family
ID=68492095
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910878400.5A Expired - Fee Related CN110450028B (en) | 2019-09-18 | 2019-09-18 | Complex curved surface grinding and polishing device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5766851A (en) * | 1980-10-08 | 1982-04-23 | Toshiba Corp | Finishing device for curved surface |
| US6135683A (en) * | 1997-11-05 | 2000-10-24 | Jongwon Kim | Parallel mechanism for multi-machining type machining center |
| CN105690209A (en) * | 2016-02-03 | 2016-06-22 | 河北工业大学 | Self-adaptive control method for large-curved-surface grinding |
| CN106378637A (en) * | 2016-11-18 | 2017-02-08 | 电子科技大学 | Gas-liquid parallel-connection six-freedom-degree machining platform system used for machine tool machining |
| CN109129158A (en) * | 2018-10-30 | 2019-01-04 | 吉林大学 | Accurate milling forming machine tool and its control method based on parallel tool system |
| CN109333547A (en) * | 2018-10-16 | 2019-02-15 | 中国矿业大学 | A kind of yeast surface parts process unit that multi-parallel is co-melting and processing method |
-
2019
- 2019-09-18 CN CN201910878400.5A patent/CN110450028B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5766851A (en) * | 1980-10-08 | 1982-04-23 | Toshiba Corp | Finishing device for curved surface |
| US6135683A (en) * | 1997-11-05 | 2000-10-24 | Jongwon Kim | Parallel mechanism for multi-machining type machining center |
| CN105690209A (en) * | 2016-02-03 | 2016-06-22 | 河北工业大学 | Self-adaptive control method for large-curved-surface grinding |
| CN106378637A (en) * | 2016-11-18 | 2017-02-08 | 电子科技大学 | Gas-liquid parallel-connection six-freedom-degree machining platform system used for machine tool machining |
| CN109333547A (en) * | 2018-10-16 | 2019-02-15 | 中国矿业大学 | A kind of yeast surface parts process unit that multi-parallel is co-melting and processing method |
| CN109129158A (en) * | 2018-10-30 | 2019-01-04 | 吉林大学 | Accurate milling forming machine tool and its control method based on parallel tool system |
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| Publication number | Publication date |
|---|---|
| CN110450028B (en) | 2020-12-22 |
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